The trouble is with a van, is vision, a blind side is just that blind, yeah, that's what side mirrors are for, but having had a van, as a cyclist out on the road, I am particularly wary of vans, as mirrors are not all encompassing
What happened to the chap in the video, happened to myself with a double decker bus, I got squeezed off the road, the driver totally oblivious to his action, as he was avoiding cars on his side who were doing similar to him on the approach to a round about.
The reason cyclists are not accounted for I believe is not because we don't pay road tax, but because we aren't seen, we don't create that mind warning keep clear of the unprotected fragile thing on two skinny wheels as to be fair, how many motorists actually want to hit a cyclist with their vehicle, how many want to go through the insurance hassle and possible police action.
Now something I have noted out on the road drivers respond to lighting, not so much shapes, but lights and lights that flash or suddenly come on, with motor vehicles that means direction indicators and brake lights, we don't have them, perhaps we should for out on the road, as how many times as say as ourselves as a car driver, we have grumbled at another car driver who could not be bothered to indicate when they turned or cut across in front.
Cycle direction indicators and brake lighting is available and seeing as road courtesy is becoming a thing of the past on Britain's increasingly angry roads, perhaps it is down to us. Hell, even some of the invalid buggies have indicators and brake lights, so why are we exempt, there is no law, so we don't do, do we have to wait for a law to protect ourselves, or do we do like we did with LED lighting when that became available for cycle lights. If anyone remembers, they were illegal at first, but they were necessary to be seen at night, we broke law and eventually the law followed the cyclist and created a DOT ideal.