That is waaay too close for no one to be screaming in the car!
I don't understand how the Tesla couldn't see the centre barrier but it can detect when a crash is about it happen, can someone explain that?
I have only worked tangentially with self-driving systems but in general they are very bad at dealing with stationary objects - this is why it can't see the center barrier.
This article describes the reason why radar and stationary objects don't mix: https://www.wired.com/story/tesla-autopilot-why-crash-radar/
AFAIK the AP focuses more on moving targets for collision avoidance, stationary objects are harder because there's so many of them you'll never hit since they're above or next to the road, but that's hard to tell until they're very close (can't see where the road leads to 100m away).