A motorist told he would not face prosecution over the death of a cyclist on the A2 has now admitted causing death by dangerous driving.
Charles Maxted, 52, was due to stand trial at Maidstone Crown Court in relation to the fatal accident in Dunkirk on August 3, 2012.
IT worker Graham Epps, 29, of Claremont Place, Canterbury, died after a crash with Maxted's Vauxhall Meriva while cycling home from work.
Cyclist Graham Epps died after being hit by a car
Maxted, of Glen Walk, Yorkletts, Whitstable, was originally told by the Crown Prosecution service that he would not be charged.
Mr Epps' mother Sarah-Jane Turner later spoke of her frustration at the decision and the the case was eventually reviewed.
This led to Maxted, who is diabetic, being charged and in June this year he pleaded not guilty.
However, before the trial got under way, Maxted changed his plea.
Prosecutor Simon Taylor told the court that while "certain aspects" of the basis on which Maxted had admitted causing death by dangerous driving were not agreed, he added they were unlikely to be "controversial".
Flowers at the scene where Graham Epps was killed
Requesting psychiatric and probation reports, defence counsel Danny Moore said Maxted was "a very different man" to the one who caused Mr Epps's death.
"The defendant's mental health has been substantially affected by this event," he said.
"In the immediate aftermath of this event, there was another event involving 'an overdose' of insulin that had substantial effects on the defendant's brain."
Maxted, who has not driven since the fatal accident and has also had his licence revoked, will be sentenced on December 19.
Mr Epps, who lived with his girlfriend Melanie Smith, worked at Oakleigh Manor in Dargate for six years. His boss Stuart Barton described him as "a special man".
Graham Epps with his partner Melanie Smith
Adjourning the case, Judge Richard Polden said that while it was "frustrating" for Mr Epps' family, it was important the court had all the necessary information.
He also warned Maxted all sentencing options, including immediate custody, would be considered.
Maxted was released on unconditional bail.