having read this thread I feel very sorry for all concerned,mostly the cyclist and her family.Any death on the road is one too many,but as mentioned before without full facts it's hard to aportion blame.With arguments about undertaking/filtering on the go,perhaps we all need to make sure we are responsible for our own safety and don't put ourselves in dangerous circumstances just to save a few seconds.I feel it's fine to undertake when there is room & the traffic is slow moving,but if I am not sure of the drivers' intentions I will wait behind every time.We need to assume drivers can't or won't see us and be ready for their mistakes.It's us that gets hurt not them, the rights or wrongs of it don't come into it if your lying dead on the road.LOOK OUT FOR YOUR OWN SAFETY BECAUSE NO ONE ELSE WILL.