I'm glad you are okay. This is a lesson on cycling however. I know this is not always possible but whenever I am in a situation where there are a bunch of cars parked alongsidethe road, I take the lane, i.e. ride in the middle of lane showing that if you want by me, a car will have to pass me. In most states, the rule is that you ride to the farthest right of the road as practicable. The as practicable is the key. If there is debris in the road, you can move out into the lane, it if it unsafe to ride near parked cars because they may door you like you had happen, you ride out in the lane and show that you are aggressively taking the lane!

Yes, the driver should look before they exit their cars, but they hardly ever do. so it is up to us to keep ourselves safe on the bike.