Having watched the video again, I seriously doubt that the cyclist ever emerged from the lorry driver's blind spot. If you look at the vehicle ahead of the cyclist, it's clear that the cyclist is maintaining the same distance from it until it starts to accelerate, which is the point where the collision happens. I suggest that the lorry driver was probably just behind the cyclist, maintaining that same distance from the vehicle in front, and he accelerated at the same point the vehicle in front did.
Not that this absolves the lorry driver from fault. He knew that a filtering cyclist was somewhere to his immediate left, and he should have made sure there was enough room in case he got undertaken again by that same cyclist. He had enough room to his right to move right to ensure safety, but he didn't.
I don't see how he knew there was "a filtering cyclist was somewhere to his immediate left". I don't think he ever got into the drivers field of vision.
Quite possible the cycle lane met guidelines when it was installed, but not since? I think the guidelines were altered?
My $0.02... Pretty similar to whats already been said. I'd have ignored the cycle lane, too narrow and all that nasty slippy paint on the road - one of the first things I was told to avoid when I did my motorbike training. I'd have slipped in behind the wagon, probably ridden on the offside corner of the wagon, so the drivers got a chance of seeing me down his offside, waited for the next bottleneck and passed on the outside.