It depends whether you are a perverse driver or a safe and prudent driver.
In a perverse way, if you hit the vehicle filtering out into your lane, the fault is on that vehicle, provided the point of impact is anywhere on the fender.
As most cars are sluggish when moving from stationary position, it is likely that without slowing down, you will hit the fender of that emerging vehicle and win the case (unless a motorcyclist or jaywalker emerges.)
If you have to get involved in an accident, at least ensure that you win. However, the safe and prudent driver, knowing that accidents expend time, energy, and money, would anticipate such behaviour and take reasonable steps to avoid an accident.
If you hit them well,
their fault. They hit you,
their fault. Their stakes are higher if they are taxis, private hires and BlueSG cars.