This is exactly why I will continue to ride my bike on the sidewalk. Screw riding a bike where cars are, too dangerous. I'd rather not someone waking and everyone be fine minus a few scrapes or whatever, then dying.
Cyclists die more often per KM traveled on the sidewalk than on the road. You just feel safer on the sidewalk. In 40 years of riding bikes, the only serious collision I had was on the sidewalk and I'm still suffering the consequences 30 years later. That's a mistake I won't make again!