I think he needed to quickly push hard on the Right hand grip.
This would give a quicker response to get the bike to veer to the right versus leaning.
Something riders need to think about and practice for incidences like this.
After replaying the video I do see where something made the bike lurch about a second or two before the collision.
Looked like his speedo was at 55 mph. Too fast? Maybe for his experience.
We all seem to go a little quicker than what's posted and correct that speed after we encounter certain road conditions. Maybe whatever made his bike lurch was his first encounter on that road.
This video was good because it makes you pucker up and aim your eyes right at the headlight of the fire truck.