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The SUV driver thought he was going to hit the pedestrian so he swerved and instead killed his friend.

Ironically, it appears he wouldn't have hit the pedestrian since he stopped on the other side of the white line whereas it appears the SUV maintained his lane up to that point, thus he would've scared the ever-living shit out of the pedestrian, but would have missed him in theory.

The bane of non-race car driver reactions.