I had a same experience machan, I was hit with a dog while I was driving a bike. Front wheel of the bike went over the dog and bike was stopped right there with the dog in between 2 wheels. Luckily me or dog seems not hurt. Dog was crying and ran away.
A very sad incident occurred with a squirrel. When I was driving a little faster in my scooter. I saw a squirrel at the corner of the bend. It was there very near to the side of the road. But when I was approaching, squirrel suddenly ran in to the middle of the road and front wheel went over the animal. I was stopped the bike and came to see the squirrel, he is dead. I put him at the side of the road and went away. I felt guilty.
But the guilty is also a sin, according to the Buddhism. So Don't think about the mistakes you've done. It's meaning less. Think to stop doing the same mistake again and again.