Collisions are either accidental or intentional. If the driver did not intent to collide with the cyclist, then it is described as an accident.
Absent proof of intent, the legal interpretation is "accident."
If the unintended collision (the accident) resulting in the death of the cyclist can be attributed to negligent behavior of the driver, then it is an example of a negligent homicide. The prosecution needs to prove criminal negligence; they do not need to prove criminal intent.
Hence the terminology.