On a wider, almost philosophical, approach, road use is a matter of road sharing. It's a social activity. If we could move more into thinking about these kinds of situations as social - it always is - rather than as ''right of way'' questions, I'm not sure the OP's question would have arisen. Not that, in so far as I understand it, ''right of way'' is a legal concept, except perhaps in the negative ''no right of way'' for banned people/vehicles. Priority is. It's pretty much self evident to me that the most vulnerable road user should have priority.