Leave yourself enough room on the right. Ride in part of the lane it is safe to ride in. Technically, cyclists are supposed to keep as far to the right “as possible.” That doesn't mean you ride right up against the curb, in the gutter, or so close to a parked car you get “doored”. Try to leave about a meter between you and parked cars, a curb, or unpaved shoulder. That may not always be possible, but it gives you a bit of cushion for the unexpected.