It was good to read you only suffered minor scrapes and perhaps some hurt pride. I would be interested in knowing what you would do different if the situation repeated itself. You mentioned trying to get unclipped. I have not gone to clipless pedals yet but understand from others that when hurried getting unclipped can be problematic. My first ride this spring I went off the pavement into soft sand and could not get free of the clips. I went over much like you described.
Where I ride the majority of drivers show no mercy. On back country roads they blast by at high rates of speed and seem to resent making room. So defensive riding is the norm.
I am 70 going on 40 and have no intention of giving up biking.