It's hard to see in the video(s) but he was originally on the left shoulder and entered the high speed lane causing the sedan to brake really hard and swerve to the left to miss him - then he headed for the exit causing the truck and swerve to miss him as well.
Edit: Here's a cropped frame grab showing him on the shoulder, in the shadow of the overpass, around a curve from oncoming traffic. As I said, more horsepower than brain power.