Here is the section:
21658. Whenever any roadway has been divided into two or more
clearly marked lanes for traffic in one direction, the following
(a) A vehicle shall be driven as nearly as practical entirely
within a single lane and shall not be moved from the lane until such
movement can be made with reasonable safety.
(b) Official signs may be erected directing slow-moving traffic to
use a designated lane or allocating specified lanes to traffic
moving in the same direction, and drivers of vehicles shall obey the
directions of the traffic device.
Yes, it can be charged under the circumstances indicated. You can always try to argue a necessity defense and hopefully someone else saw this mystery vehicle coming at you. No matter, you will also likely be liable for civil damages to the parked vehicle no matter the outcome of the court trial.