He wasn't sure what he was doing at the time of the crash (maybe drinking coffee, maybe adjusting the radio?),
But he knew his coffee was spilled all over the place and his bagel was smashed... Which leads me to believe that his coffee was in one hand and the bagel in the other.
And he said that 3 seconds, how long there was no lead car in front of him, wasn't long enough for him to see the firetruck and react. In fact he didn't even know that is what he hit until he got out of the car after the collision.