Teenager Cassie McCord was killed by an 87-year-old motorist who drove into her as she walked on the sidewalk - three days after he refused to surrender his license to police.
Colin Horsfall had been in a minor accident and failed an on-the-spot eye test but held onto his driving licence, an inquest heard.
Cassie, a 16-year-old student who wanted to be a lawyer, was on her way to college where she was studying for five AS levels when she was hit by the car. She died from severe head injuries the day after Mr Horsfall swerved on to the sidewalk, hitting her and another pedestrian.
The inquest was told that three days earlier Mr Horsfall had been involved in an accident and refused to turn over his driving license.
PC Daniel Bellingham was called to the Tesco petrol station in High Woods after the accident.
PC Bellingham said Mr Horsfall had told him: "I had gone to get fuel but I missed my turning so went in the back. As I went to press the brake my foot slipped on to the accelerator."
His red Vauxhall Astra ended up among some trees. PC Bellingham said he gave Mr Horsfall a sight test, which he failed. Mr Horsfall was driven home and PC Bellingham asked him to surrender his license. "I told him I would be submitting paperwork to the DVLA. Mr Horsfall asked if he was permitted to drive," he said.
"I told him he would be better off not doing so but he asked me again directly if he was allowed to."
PC Bellingham faxed the report of the incident to the DVLA two days later on Sunday, February 6.
The following morning Mr Horsfall drove into Head Street, Colchester, and mounted the kerb.
Adam Hart was a passenger in a car in Head Street when the incident happened. Mr Hart said his wife had pulled over and he was saying goodbye when he heard a screeching.
He said: "The car seemed to be going incredibly fast, especially considering it was on the sidewalk."
Mr Hart said his wife had thought it must have been a fugitive being pursued. He added: "I did not see any brake lights come on."
Cassie was thrown into a shop window before falling onto the car. Efforts to save Cassie failed and she died in hospital on February 8. Mr Horsfall died on May 13 having never recovered from the crash.
Essex Coroner Caroline Beasley-Murray recorded a verdict of unlawful killing in the case of Cassie and that Mr Horsfall died as a result of the accident.
Cassie's mother Jackie McCord is now determined to change the law so that any unfit driver can immediately be stopped from driving.
"I want some good to come of this," said Mrs McCord, 51, who has a 10,000-name petition demanding a change in the law. "Colin Horsfall had a zimmer frame and walked with a cane. He didn't declare any illness so he kept his license."
Mrs McCord said the family struggled every day to come to terms with the loss of their "much-loved and vibrant girl. She was special."