Expert drivers, which have a wealth of driving experience, can perceive deeper structures of the environment, and can adapt to a changing environment, and can therefore take a hazard-anticipatory driving behavior to increase safety margins. This study focuses on assessing the potential risk for a pedestrian who initiates a road crossing from the driver's blind areas, and we have developed an advanced driver assistance system with hazard-anticipatory driving intelligence. A purpose of this paper is to present the design of haptic guidance support for hazard-anticipatory driving. Three important design issues for risk predictive haptic guidance support system can be distinguished: (1) design of the one-pedal speed control interface, (2) design of the risk-prediction based driver model, and (3) design of the haptic feedback with an active gas pedal. Research question is that whether or not drivers can be led to hazardanticipatory driving behavior through the risk predictive haptic guidance support to give his/her continuous potential risk information with respect to blind areas. Through a simulator experiment, we confirmed that the proposed ADAS assisted the drivers to guide the referenced velocity by using the stroke range designed for deceleration via the one-pedal speed control interface.