Are there any rules requiring drivers to keep a lookout for bicyclists?

Generally, all motorists must keep a reasonably vigilant lookout for persons operating bicycles on the streets of the City of New York and must sound their horn whenever a reasonably prudent driver would in order to warn the bicyclist of danger. The driver must operate his/or her vehicle with reasonable caution and care and must do so in a way so as to avoid a collision with anyone including a bicyclist who may be operating his/her bike on the roadway.