This is a good example of why every rider should learn countersteering. Practice it every day during your casual rides, until it becomes like a reflex. It will save you one day! This is a typical situation in Bangkok, where riders will come out from between cars without looking at all.
I practice these kinds of situations every day, by purposefully riding towards small obstacles on the road and dodging them last second using counter steering. Note: do this only with obstacles you can actually hit or ride over if you miss!