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Start with TV/Radio, like the THINK adverts for motorcyclists and larger vehicles.
Simple things, a 20 second advert showing how to overtake using the correct distance and a reminder of what kind of penalty a driver is likely to receive if they are charged for dangerous driving.
Another example for cyclists, clearly showing the dangers of undertaking large vehicles.
I watch a lot of TV and I've seen nothing like this, there's plenty of THINK! Motorbike advertising on TV and Radio, we need to do the same for cycling.
The higher level of awareness and normalisation the public have about cycling as a key mode of transport on our roads the more it will be taken seriously.
Just an observation, and in no way expressing support for or against segregation, but there isn't currently any mechanism or mandate to educate existing drivers. If you begin now on educating new drivers then it'll be 30-40 years before they achieve a behavioural critical mass that affects the whole of the driving populace. Just waiting for bad drivers to die off isn't a good policy. What are you proposing for the education of existing drivers that is better than that?