I've just looked a the video again, it is better than the first edit which I saw several years ago but still gives an unrealistic view of the problem. The sketch road layout shows the lorry starting from a position on the right and moving more to the right before turning left - that is what usually happens. The filmed video shows the lorry starting from the left with a very narrow gap and it uses an open flared junction layout, there are also shots of the cyclist turning left and the lorry having space to overtake on the corner - this is really crap.
Most of the crashes happen on tighter corners where the lorry has to start from about 2-3 metres away from the left curb. That leaves a very wide gap which most cyclists see as inviting and safe. Sometimes they see the driver is indicating left but just don't believe it as the lorry is so far away to the right. In this position it is often very difficult for the driver to see the cyclist in any mirror. When cyclist and lorry move forward the driver begins to turn quite sharply, cutting across the cyclist's path. Most often the cyclist is planning to go straight ahead and is hit by the very front corner of the lorry, at or in front of the first axle. Not as shown in the video.
The ROSPA video is misleading in suggesting the danger comes from squeezing into a narrow space, at most junctions a lorry that close to the curb could not turn the corner (it's still crazy to go there).
The Met Police have just made a series of presentations showing where the cyclist goes and what the driver can see in the mirrors, I'm hoping they will put them on YouTube for everyone to see.
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charlie