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You have a right as a cyclist, the motorist doesn't.
I put this argument forward on a car forum that I play in, the response was that, while technically correct, it is wrong (in the eyes of the driver). Courts seem to back this up too.
The fundamental problem seems to be that some drivers believe they have the right of precedence.
I'm not sure how they assess their journey as being more valuable than the cyclist's or a pedestrian's, but it does seem to be the problem.
Fortunately for drivers, you can claim precedence if you have the right equipment on your car. If you don't have it, then you are just the same as any other road user such as cyclists. pedestrians, kids on tricycles, tractors, etc.
All you have to do is get a job that allows you to have blue flashing lights on your vehicle.
Otherwise, settle down, behave like a decent human and wait your turn.
The A24, one of a few roads that have inspired a song
'Boxhill, Boxhill 'ere we come,
I ain't 'appy till I've reached a ton,
a cup a splosh and a greasy dog,
I'm happy when I'm riding me hog'
Great lyrics
A bit of an update from when this was a hot topic a few months ago.
It looks like the chap who started the petition is being given some air time at a council meeting next week
Cycling Weekly article with a few details here:
http://www.cyclingweekly.co.uk/news/latest-news/surrey-county-council-debate-banning-cycling-a24-theres-adjacent-cycle-path-297763
Agenda for Council Meeting here :
(although there is no mention of this specific petition)
Update from Cycling Weekly for those interested. Original local news article can be found through the CW link.