The 2007 Seattle Ped-Bike Collision Report has a nice map of car-on-pedestrian collisions in the city. The overwhelming majority of such collisions occur on busy streets with very few residential units. Page 23 also lists collisions by "type" and shows that out of 531 collisions exactly one occurred in a driveway.
There are many reasons to avoid having too much off-street parking in dense residential or mixed-use neighborhoods. But pedestrian safety is not one of them.