I almost hit an uncle when I turned in to a carpark, while he was crossing from the pedestrian sideroad.
We encountered such crossings all the time, but I never know who has the right-of-way.
As a driver I try to let pedestrian cross first (plus it can be hot). As a pedestrain I try to let car drive in first (as they are faster). In Singapore we’re usually polite and gracious, so no problem.
But there must be a rule, and indeed Traffic Police Rules stated:
Every cyclist, mobility vehicle user and PMD rider – when at the informal crossing, or the entrance or exit to a car park, must — give way to any motor vehicle or stream of vehicles immediately approaching him (whether from his right or offside or left or near side) or leaving or entering the car park.
Surprisingly, different from other countries, Singapore cars have the right-of-way at such (jaywalking?) unmarked crossings.