The Autonomous Street Pole Comfort System (ASPCS) provides safe, ethical, and trauma-informed aid to unhoused or vulnerable individuals in public urban spaces. The system integrates heating elements into existing street poles, delivering controlled warmth through a durable, fire-resistant covering. Optional modules allow voluntary distribution of blankets, food, or water without coercion. Offline AI guidance supports ethical responsiveness while preserving privacy and autonomy. Safety features include overheat protection, tamper resistance, and power management. ASPCS leverages urban infrastructure to deliver immediate, low-barrier comfort, addressing gaps in conventional shelters and warming centers. By embedding human-first care directly into public spaces, the system enhances dignity, accessibility, and well-being for those facing homelessness or environmental vulnerability, providing a scalable, compassionate solution for urban humanitarian challenges.