More than two in five primary schoolchildren say they have been hit or nearly hit by a vehicle while on foot or bike, according to a survey.

Two-thirds of the 4,787 pupils aged seven to 11 who were polled thought roads in their community could be dangerous for walking and cycling, and 41% said they had been struck by a vehicle or had a near miss.

The findings were released by the road safety charity Brake at the start of Road Safety Week. Brake highlighted figures showing that motorists are picking up fines for speeding and careless driving at a rate of almost two a minute.

A total of 950,505 fixed-penalty notices were issued for speeding last year, and a further 17,483 were issued for careless driving. Brake is launching a campaign calling on road users to look out for each other to help cut the rate of five deaths and 61 serious injuries a day on the roads.

The charity’s deputy chief executive Julie Townsend said: “When drivers use roads without care for others, the consequences can be tragic and horrific. That’s why, instead of making our streets stressful, risky places, we’re asking all road users to look out for and protect each other, particularly the most vulnerable. That means drivers sticking to 20mph or below in towns and villages, looking carefully at junctions and being considerate.”

The road safety minister Robert Goodwill said: “Britain has some of the safest roads in the world and improving safety is an absolute priority for this government. Cycling and walking are both great exercise and benefit our environment and economy, and I want more people to feel safe on our roads.

“This is why we have made significant investments in road safety and improved education resources for schools, made it easier for councils to introduce 20mph zones and increased fixed penalties for driving offences.”