It's a common occurrence. Most times drivers just aren't paying attention when they nearly run a cyclist of the road. It's not excusable, but at least it's understandable. Then, once in a while you get one very bad motorist. They don't believe or understand the notion that cyclists have a right to occupy space on the road way, and that cycling on the sidewalk is illegal. Best thing to do with these people is avoid them like the plague. I know from personal experience that you will not be able to change their mind while talking to them through their car window.