Caleb Alan Wills is on trial in the Brisbane District Court for dangerous driving causing the death of Richard Anthony Burden when he struck the cyclist on Moggill Road in Chapel Hill on February 27, 2017.

The 50-year-old died from head injuries sustained when Wills hit him with his Honda Civic at dawn.

Will pleaded not guilty to one charge of dangerous driving causing death on Monday.

The prosecution argues Wills was not paying attention when he drifted to the left side of the left lane and collided with Mr Burden, but lawyers for the defendant say their client's driving was not dangerous at the time.

"There is no question that the deceased man Mr Burden died as a result of a collision ... that very sad fact will be admitted," defence barrister Laura Reece told the court.

"The question for you ultimately from the defence perspective is whether the defendant's operation of the motor vehicle in that time in those conditions, whether that driving was dangerous in all of the circumstances."

Dashboard camera footage captured by a driver travelling behind Wills shows the moment Mr Burden was hit, sending his bicycle into the air.

Witnesses to the incident testified Mr Burden and his bike landed on the other side of the road's guard rail after the impact.

One woman who saw the collision unfold told the court Mr Burden was laying on the ground in a starfish shape bleeding from his nose, ears and the back of his head.

They dialled triple-zero and took instructions on how to help Mr Burden, who was breathing but non-responsive, until paramedics arrived and said Wills was in a state of shock.

The trial will resume on Tuesday.

Australian Associated Press