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via way of victim-blaming. A simple system can be devised where at all times a driver/rider/etc must give way to other drivers/riders/etcs that are in a more vulnerable category.
Ped<Cyclist<Motorcyclist<Car<Van<Lorry, where < = 'has priority over'
It has its drawbacks of course, but I think the merits outweigh those.
^^ This line of thinking ends in jaywalking laws. Fuck that.