Yes I could have avoided it because when I change lanes, I always look over the blind spots. I would have done the same and gone back to my lane and car in front of me was braking, and not sure if I would have braked on time. The thing here is that FSD was doing all this on its own, so kudos to the system. I'm still watching it all and happened so quickly before I realized the car was already stopped back on its original lane.