I've seen dogs that runs after lorries barking, here in Hong Kong a lot. At one point, I had a stray mongrel running right beside my car barking like crazy and I had to slow down 'coz I was afraid that it might run in front of my car and no way will I be able to sleep at night knowing I've killed an animal.
I did recognized the young dog that was after my car as one of the pals of a stray that was ran over by some other car some time ago (did not witness that accident but saw the poor dead dog on the side of the road).
I somehow believe that they seem to know exactly what had happened to their pal(s) and probably witnessed something in the past that cars, bikes, lorries, etc are not their friends, if you know what I mean.
Not a lot of people in Hong Kong would stop or slow down for animals on the road. Too many strays and the government is not doing a lot to help.
Lots of dog rescue or cat society rescues in HK are having problems with the government who will not help out. Did you know that they even dropped the "R" in RSPCA in HK?
Anyway, before I keep going...keep your dog on a leash while walking him on busy roads and train him.