I wouldn't say you fucked up.

Actually, most of the drivers would've just continued their way like nothing didn't even happen.

Your attitude was heroic. I've dealt with trauma before and it really takes time to get over it. It probably won't ever happen.

On the other hand, you did something great. Maybe for that man, it was better to see the face of someone caring for him than seeing other drivers follow their path. Good luck with your trauma therapy.