If you read the driver's own comments on YouTube, he did react to the situation in time. His decision of action however was in error. He decided to take partial

If you read the driver's own comments on YouTube, he did react to the situation in time. His decision of action however was in error. He decided to take partial control of the vehicle by grabbing the steering wheel to change lanes and merge right. What he needed to do was take full control of the vehicle by tapping the brake to disengage the cruise control aspect of the AP.