The cyclist can clearly be seen riding on the pavement earlier in the video. OK, the driver might have expected him to be there, but it is a bold rider that assumes priority in those circumstances. The rider would best be on the road if he wants to keep his priority. If you choose to ride on the pavement, then be prepared to give way to everyone. Even if it is a shared path, then the rider will have to give way. Cyclist mostly to blame, in my view, but the driver might have anticipated he was dealing with an idiot and driven accordingly.