Although "He had right of way" is probably not the best tjhing to engrave on a headstone.
Also, remember that the Highway Code is for guidance only. It is only based in law where it says must or must no. This is Rule 8. You will notice that traffic should give way, not must.
8. At a junction. When crossing the road, look out for traffic turning into the road, especially from behind you. If you have started crossing and traffic wants to turn into the road, you have priority and they should give way