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Every human (and many other animals) experiences what self-defense experts have dubbed the 'startle-flinch', which is an instinctive reaction. It is often characterized by a ducking of the head, raising the hands, and a general tensing of the body. It has been shown that not even the most highly trained person can escape this survival instinct. On a bike, this probably appears as locking up or what we would call target fixating.
What you CAN train is recovering back to a relaxed and in-control state ASAP so that you can effectively deal with the threat, and you can train to detect threats (like that girl in the Prius who is weaving in her lane because she's texting) before they startle you.