I've had a few of these Hip priest and i think it comes from the driver thinking that the cyclist can't be going that fast so pulls out. I've seen drivers look at me then make a decision to pull out then look again and think better of it as i am going faster than they originally thought.
The worst one i had was when a driver was pulling out of a junction (a car boot sale on a Sunday morning) and he saw me yet still pulled out. I had anticipated this so sat up (doing about 25mph) and put my hands over the brake hoods. What i didn't anticipate was the idiot then swinging back in to the junction and performing a U turn right in front of me!! I nearly hit the passenger side but managed to brake in time (thank you good brakes and dry weather!!).
The passenger actually gave me an apologetic wave as the driver performed the manoeuvre. Don't think they realised how close i was to joining them in the passenger seat.
Glad you were okay on this one. For me it's now a case of hands on the hoods, and over the brakes, any time i am at a junction. Especially cautious with a lurker nosing out of the junction.