Charles Edwards is charged with causing Angela Booth’s death by dangerous driving in a smash outside a Morrisons supermarket in Preston in May last year.
The 76-year-old, of Upholland Road, Billinge, entered his plea at Preston Crown Court.
He had originally been arrested on suspicion of attempted murder after the early morning collision.
Police were called shortly before 6.25am on Friday May 24 last year by the North West Ambulance Service to the report of a collision between a woman pedestrian and a Peugeot motorhome in the car park of the Morrisons supermarket on Blackpool Road, Preston.
Ms Booth, who was 39 and from Preston, was taken to Royal Preston Hospital with what were described as “significant injuries.”
She was transferred to Wythenshawe Hospital in Manchester where she died on Friday June 14.
A Home Office post-mortem examination revealed the cause of death as multiple injuries.
Judge Simon Medland QC adjourned his case for trial to December 6, 2021, with a mention hearing listed on January 25, 2021.