Sorry but again this is not reckless driving within the meaning
of Section 64 of the Road Traffic Act.
It could be at most Inconsiderate driving, careless driving or
changing lanes without signalling or failing to give way when
filtering.
In his defence, yes he came into your lane, but I noticed he
signalled and braked too, you now have the option of whether to
insist on your right of way, by sounding your horn/ flashing high
beam or you could brake and let him pass, which is what you
did.
It could also well be the case the driver having failed to see
the exit until late attempted to filter without checking, still an
offence but something I believe all of us at some point do.
1 thing to understand about traffic laws is that it is made to
protect and punish you, a strict liability offence. The road speed
limit is 60kmh, why? Because at 60 kmh you can jam brake and stop
within 1 car length, but do you or anybody drive at 60 kmh on all
normal roads, is it practical? But suppose you hit someone from the
rear, the law is there to punish you for driving above 60kmh.
Everybody has an off day or makes mistakes, one cannot assume
that all drivers will be alert at all times, in this case you were
alert to the danger and took remedial action. Anyway if an accident
did occur, you would be in the right and if that driver continues
to drive like this and assumes everyone will give way, he wont last
long on the road.
But it is not your duty to take action, TP officers are
sufficiently paid to deal with these issues.