It's never happened or ever come close sooey. It's called spatial awareness. If my space is small, (narrow road, poor vision, school kids around, neaby hedges etc. etc.), I adjust my speed to the conditions.
My my big tone, what a smug fcker you are. Spatial awareness hey, when I did my PSV years ago they called it road awareness, the art of reading the road in front of you. I've been driving over thirty years, cars, vans, busses and taxis. In all of that time I've only ever had one minor shunt caused by me (piping some birds ass)

But I've had three smashes which were absolutely
not caused by me and which I absolutely could
not have avoided with all of the
spatial awareness in the world, short of seeing the future.
NOT saying cyclists can't be wrong a.holes! But I question drivers who don't have spatial awareness who believe anything can just materialise in front as if from nowhere
One of those accidents in particular I was driving along a main road when a car full of young dheads came out of a side street at about forty. he couldn't see me and I couldn't see him, buildings were in the way. he wasn't turning left or right, he was going straight across into the side street on the opposite side of the main road.
He took the front end off my car, I was lucky he didn't kill me. HE MATERIALISED AS IF FROM NOWHERE.
But the one I'll never forget was the accident I never had.
I was a taxi driver and had two women in the cab, I stopped to drop one off and she spent ages getting out talking to her mate, I was cursing her.
When she did get out I started off again and getting to the next junction the lights changed just as I arrived. Being a taxi driver nine times out of ten I'd have gone through on amber. This time I stopped and as I did so some cnt roared through the lights coming from my right. again completely blind because of buildings. this bstrd was doing a ton if he was doing anything, and the light he went through MUST have been red because mine was only still changing. If I hadn't have stopped that time I would have been smeared half a mile up the road with my passenger.
So spatial awareness is no guarantee of anything at all.