Agyrophobia

Agyrophobia (from Greek agyro meaning "street") or dromophobia (from Greek dromo, "race course") is the fear that crossing streets will cause bodily harm to oneself, even if no actual threat is posed. The fear is suffered due to greater difficulty moving through crowded pedestrian alongside busy streets. Even fear sufferers would still drive cars, but will avoid walking on streets, meaning they will avoid sporting events, political rallies, and shopping where they're often crowded.

This phobia is considered independent from amaxophobia, the fear of cars, as even crossing a deserted intersection still initiates the fear reaction.