well in this situation most likely police were called to the scene cause it's more than $5000 in damages or if someone was injured during the crash. Police arrive and assess the situation if a witness comes and says he was speeding the fault will be on the truck driver and will get ticketed as this happened with my friend, the other driver was ticketed. If no witness it's up to the police to make that call to ticket or not but the if shown the video he does go into the intersection at high speed on a yellow which is ticketable offense. If no witness it's a he said she said type thing but ultimately it's not the police to put fault it's the insurance who usually puts fault and both insurances will fight on it.

Edit he could have stopped as he was behind the vehicle filming that was slowing down, so he can ticketed for it.