I don't think "I just didn't see him!" is considered a reasonable explanation in court. Now, if the cyclist came out from the gap between parked cars or a tigh

I don't think "I just didn't see him!" is considered a reasonable explanation in court. Now, if the cyclist came out from the gap between parked cars or a tight corner... Cyclists can absolutely be at fault. I don't see why you'd think otherwise. Humans are uniquely fallible, cyclist and drivers are both human (if you ignore Waymo et al).