It says that perception is not conscious. So what we experience as our conscious perception is accessing the most recent memories, which could reasonably be used to actively choose a course of action.

That would make sense with theories of mastery, where early stages of doing a new task (walking, riding a bike) require our full focus, evolving to an ability to do the task under normal circumstances, then to negotiate common obstacles, then to deal with novel obstacles as they occur. The conscious effort discovers and develops solutions that our unconscious can use in the future, so when you get bumped while walking, your unconscious corrects, while your conscious mind continues to work on other things.