But it didn't. This is a screen grab from where he reacted like it was going to side-swipe the truck:
View attachment 602539
It looks like there is plenty of distance there, and it is going wider... I think, but am not sure, that it slowed down because it thought the truck was going to pull out on it. And that it was the sudden braking that they reacted to.
He is providing a lot of good video, but in some cases I think he is overreacting. In other cases he takes over just because it wouldn't drive exactly like he wants to. (In one case even complaining that it didn't break the road rules like he would have.)