Predicting hazards regarding pedestrians dashing to roadways is necessary to reduce the number of pedestrian accidents in unsignalized intersections. The purpose of this research is to develop a hazard-anticipatory driving assistance system to prevent crashes with moving pedestrians in unsignalized intersections. This paper describes hazard-anticipatory driver model using risk potential of collision with pedestrian which can simulate expert driver's driving in unsignalized intersections. This driver model is constructed on the basis of urban roadway driving data by instructors of a driving school. By using of the driver model, the predictive braking assistance system is constructed for collision avoidance with pedestrian. Finally, the evaluation of the predictive braking assistance system is verified in nearmiss incident scenario by using a driving simulator.