Most of the rules in the Highway Code are written to leave a margin of error, so that there is a clear 'no-mans-land' between potentially conflicting parties. If a collision occurs in this 'buffer zone', it is because both parties are at fault. If one party makes a momentary mistake, the 'buffer zone' protects both parties.
I remember reading about someone ( probably one of
James Thurber's aunts or maids ? ) who just knew that it was always perfectly safe for her to blast across junctions at full speed, because everyone else had been taught to proceed with caution, and give way if necessary.