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@MrDrem
Right, I've just had a call from the Dairy, who have been really good with this one. They have had a chat with their driver, and he has said that it wasn't him who hit the cyclist.
Looking at my video again, there is a 4WD thing that turns across the front of the lorry that I hadn't spotted, so they are totally right. this also fits with how far in front of the lorry the cyclist was.
Poor cyclist :(
The lorry driver is quite concerned for the cyclists welfare, so if anyone gets to know anything, could people let me know here, so I can pass it back to them.
Thanks all!
I still think that filtering on the left past a lorry is a big factor in this crash.