Simple fact is people make errors in judgement, suffer lapses in concentration, or even develop strokes when they are on the highways. A person moving around on urban roads who suffers such an event should not suffer life-changing injuries or death from it.
A safe road environment which pedestrians and cyclists are allowed to use is one in which the horizontal impact of a collision shouldn't result in serious injury or death. Death should only come from an impact which involves in serious head injury, such as the head striking the sidewalk, a heavy vehicle rolling over a person, or the case of a frail elderly person.
If you get back to UK law for instance, there are 19th century laws(they still on the books) which forbade "furious riding" on public highways which should tell you that riding at a gallop on a public road was illegal, and would be even more so in a built up area shared with pedestrians and other horse carriages. There were no cars or even bicycles them. It is one of the laws under which cyclists can be prosecuted.
Cars doing 30mph outpace galloping horses which should tell you that even at 50kph cars are driving at speeds considered dangerous for pedestrians and cyclists around them.
Yet a cyclist who has no more protection than a pedestrian is supposed to share a road with 2+tonne vehicles of reinforced steel travelling at speeds far faster than a horse rider or carriage driver riding furiously.
How does that make sense?
I see you are Walter Bright of Zortech C++ infamy and the D language ;)