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First, this paper focuses on classification of near-miss incidents with pedestrian into typical scenarios, and then incident data are analyzed under the assumption that pedestrian detection system has a pre-determinant sensing performance. The data of 220 near-miss incidents with pedestrian when own vehicle goes straight are employed. We proposed a set of eight scenarios which structure is not necessarily hierarchical. The eight scenarios cover about 75% of the incidents. To highlight the characteristics of the eight scenarios, two kinds of vector-diagrams are introduced which illustrate the transition of relative position between pedestrian and own-vehicle, and TTC-TTV (Time To Collision - Time To Vehicle) relation respectively. For example, in a relative position diagram, we can grasp the pedestrian's relative position which the detection system finds the pedestrian first when he/she appeared with pre-determinant wide detection angle.