Xyeti, Have you seen the junction where this happened?
It is a cycle lane that crosses a junction, key word being lane, the driver must have crossed the lane to collide with the cyclist, the onus was on the truck driver to confirm it was safe to proceed, the cyclist was travelling in a designated cycle lane which did not require him to stop anywhere.
Maybe it is to much to ask that all road users understand and practice the highway code.
But it may be worth reading rule 211, as it makes mention of filtering.
It is the very least to expect that all road users keep there eyes open and aware of what is going on around them, I don’t think that is pig headed. Could even come under “due care and attention”?
I applaud your safe and cautious approach to cycling.