Dangerous tipper truck driving - how to report?

Cycling northwards on the A219 Shepherd's Bush road this morning. Got to Brook Green and a tipper truck overtook me and the car in front like a speeding torpedo then lurched to the left, nearly swiping me off my bike, before hurtling onwards. It was inches away. Caught up with the truck at Shepherd's Bush Common and memorised the reg number. Unfortunately I couldn't see the name of the company properly (DMS Waste Manaagement?) so I haven't been able to trace the firm, as the next step would've been calls/emails. Is there anything I can do? This guy was obviously rushing to complete a job. Shocking.
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