You both were very fortunate!
The closest call I've had (knocking frantically on wood) riding was when a car pulled out of a side street in front of me - I slammed on my brakes and screamed at him, which caused him to slam on his brakes in surprise - I skidded to a stop sideways, putting my hand out to stop myself on the side of his car. I still remember the look on his face, wide eyed as I skidded towards him. He was very apologetic.

TiHabanero's comment on being calm reminded me of something that happened when I was 15.
I was babysitting these two kids, one was a boy about 7. The boy went and got a can of soda and started really shaking it. He was about to open it when I said no way and took it way from him.
He *freaked* out, ran screaming down the hall way and smashed his hand right through the glass front door, shredding the palm of his hand.
I very calmly took him into the bathroom, ran his hand under cold water, got a towel, wrapped his hand up, asked his sister to hold onto the towel tightly, went to the phone, told the woman who answered who I was and who I needed to talk to, but when the mother of the kids got on the phone, I lost it, blubbering away. To this day I am amazed that I was so calm in dealing with that screaming, bloody kid. But I do wish I could have held it together when I talked to the Mom -she must have been scared her to death about her kids.