Two lanes merging into one, divided by dashed lines. Car comes over the dashed lines into the lane the cyclist is in.
Hmm, no? I think the dashed lines are the giveway lines. It might like like a lane divider, but only because it's at an angle.
I think it is a really complex and shitty junction - at the mouth of the junction there are two lanes (one for vehicles coming straight across, one for vehicles turning right into the junction from the main road). Immediately after the junction the lanes merge.
At the start of the vid, it looks like the cyclist has turned right into the road and is in the rightmost lane. They pause, start to move forward, and a car comes across the junction into the left lane, straying over into the cyclist's lane.
IMO, the cyclist had right-of-way, the car shouldn't have undertook in any case and was poorly controlled.