Earlier quoted context omitted.
If the Waymo could not see the bicycle then them cyclist could not see the Waymo. So at best the fault lies with each party to make visual contact and determine who goes first.
If the Waymo could not see the bicycle then them cyclist could not see the Waymo. If the cyclist cannot see the Waymo, then either: A) There is no Waymo, and the cyclist need not yield, or B) There is a Waymo, but its path is blocked by turning lorry, and the cyclist need not yield. So either way the bicycle has priority, no?
I don't think you're supposed to start moving again until you can see whether a waiting vehicle would intersect your path.