Very glad to hear that you are OK.
We all make mistakes, there are always surprises from road users (including pedestrians, animals, cyclists) behaving in ways you do not expect.
**Number one rule of driving; Don’t try to occupy the same space as someone else.
Number two rule of driving; Always assume road users are all idiots…
Number three rule of driving; …including yourself.**
All the driver-assistance systems in the world cannot help you there, because they are also programmed by idiots.