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A detailed study of pion production in inelastic and central nucleus-nucleus collisions was carried out using a 2 m streamer spectrometer. Nuclear targets mounted inside the streamer chamber were exposed to nuclear beams of 4.5 GeV/c/nucleon momentum. A systematic study of the influence of the central trigger on observed data is performed. The data on multiplicities, rapidities, transverse momenta, and emission angles of negative pions are presented for various pairs of colliding nuclei. Intercorrelations between various characteristics are studied and discussed. The results are compared with predictions of some theoretical models. It is shown that the main features of the pion production in nuclear collisions can be satisfactorily described by a model assuming independent nucleon-nucleon collisions with subsequent cascading process. However, the observed correlation between Lambda and pion characteristics seems to be unexplained by this picture.