Photomap

See clip at youtu.be/Pzsq6Hoeu5U

This lorry is illegally stopped. It fufills none of the exemptions to the 1988 RTA section 21. Not only that it's incredibly dangerous.

I end up stopping for the walker because I'm not sure what to do about the lorry parked up in the cyclelane. Eventually I move up and pass slowly into the oncoming lane despite not being able to see, as I listen very hard.

Stopping or Parking in Cycle Lanes
Highway Code Rule 240 (backed up in law)
You MUST NOT stop or park on a tram or cycle lane.
www.direct.gov.uk/en/TravelAndTransport/Highwaycode/DG_069860

And the 1988 Road Traffic Act, section 21.
Any person who, without lawful authority, drives or parks a vehicle wholly or partly on a cycle track is guilty of an offence. Unless:

saving life, or extinguishing fire or meeting any other like emergency
maintaining of any structure or other work situated in the cycle track or its verges
undertaking work on water, sewerage electricity, gas, or telecomms network

www.legislation.gov.uk/ukpga/1988/52/section/21