Yes, cars are bigger, but in cities they are often moving more slowly, and drivers are much more aware of pedestrians. Bicyclists, by and large, are either ignorant or purposefully ignore traffic laws, run red lights, race down sidewalks, and in general create hazards for both pedestrians and drivers. The only major cities I've been to where the majority of bicyclists are decent and mostly obeying traffic laws are in Copenhagen and Amsterdam.
Just to be clear, though, I have no clue what happened in this accident or whether anyone was actually at fault, so this comment shouldn't be meant to suggest that Takeuchi wasn't a law-abiding cyclist!