In Japan, nearly 5,000 people have been killed by traffic accidents in every year. Especially, the number of traffic fatalities regarding pedestrians shows highest number. Thus, active safety technology to ensure the safety for pedestrians is required. As an example to realize safer traffic at signalized intersections, dilemma-free control is introduced, but it reaches limit in its effectiveness. In order to realize safe and reliable traffic environment, it is necessary to improve the signal control technology while considering both pedestrian and vehicle maneuvering. In this study, factors of pedestrians to vehicle accident at intersections are investigated by using incident database with drive recorder. Furthermore, a quantitative evaluation method for near-miss between pedestrian and vehicle is analyzed.