Harris said he regularly encountered anger, intolerance, and impatience on the roads.
"I can only assume it's a hard-wired paradigm that a good portion of Kiwi drivers have developed over the years, and are either not capable or not willing to change."
Cycling Advocates' Network spokesman Patrick Morgan urged drivers and cyclists to show common courtesy.
"Drivers should give us space when overtaking. If they are on the open road, 1.5m is good but on a suburban street that is not always practical," he said.
Cyclists should also abide by the road rules and communicate with motorists as much as possible using hand signals and eye contact, limit their group size and try not to cycle during peak traffic.
NZ Trucking Association chief executive David Boyce said the road network was not designed to give cyclists enough space. Dog and Lemon Guide editor Clive Matthew-Wilson said there was an entrenched attitude that cyclists were a nuisance.
In 2010, there were 10 recorded cycling deaths, 149 serious injuries and 695 minor injuries.