In its simplest form, this is nothing more than a series of unfortunate events. When Bryant stepped into his car that night, he did not do so with the intent of killing a cyclist. Regardless of their actual intent, if a threatening and yelling stranger trespassed into my car, my first thought would be to protect myself and my family. That means getting them out of my car. The best way of doing this is the way that gets them off the quickest. What happens to the trespasser is secondary.
Like most people, Bryant is a good natured person that could hardly be described as a criminal. This unfortunate event could have happened to anyone. Not having been there myself, I can't comment on who caused the initial accident. If it was Bryant's fault, absolutely charge him. However, do not charge Bryant with anything more than careless driving. The cyclist's method of dealing with the situation is ultimately what resulted in his death. Bryant is not a murderer.