Personally I got "lucky" the first time, but it is perfectly normal to have to "try" for a year or more.
Do not be alarmed and definately not stressed.
Get a second opinion at least ... doctors do not know everything and it may well be that your spermcount and spermhealth is just perfect ... it would be a pitty to give up cycling if it doesn't pose a problem, which I'm pretty sure it doesn't.