Love all the back-seat, after the fact "I know" comments. Since none of us were there we cannot say for certain who was right and who was wrong. If there's any real "fault" involved it's the fact we have too many people trying to share too few roads. It appears it was a hard choice-stay in your lane and potentially hit the cyclist or move over and potentially hit another vehicle head-on. There's no right answer.
For those who say "this will never happen to me" arrogance goeth before the fall. Stuff happens. Sometimes you do your best and you still fail.