From this video:
I estimate signal WH152 comes into view about 700m on approach, just after passing over the A421 bridge. Mounted high up on the gantry, the green displayed would have likely reinforced 1H46's misconception they had movement authority until, coming around the long right-hand curve, the rear of 1B67 came into view a few coach lengths before the signal. This might help explain the very late braking. The loss of rear facing CCTV just before impact is interesting as it suggests a power loss, possibly an attempted reboot of all systems on the 810. If that was the case, did the rear tail lights extinguish? That would leave the stranded train rather invisible with no yellow ends or other prominent markings.
To add to the mix - WH356 approach release operates in two steps. R->Y occurs with the train some way back from the signal, while the further step up to less restrictive aspects is delayed until after the train has passed the AWS. So, this AWS operates as though 356 is a 'fixed Distant' for the signal ahead and does nothing to reinforce the aspect and hence acknowledgement of the conditions ahead.
Because of this, drivers may well be conditioned to cancel the AWS warning 'automatically', because they have to do it each time this movement is made irrespective of aspect received.
Some time back I had an opportunity to view some cab video for this movement, with a clear line ahead. WH356 stepped up to G approx 3 seconds before the train passed it (or perhaps before the signal passes out of view of a driver looking straight ahead - camera view is probably different to the human eye).
That's probably not a lot of time to register that this time the signal
hasn't done what it 'always' does - step up to G, and of course there's no difference in the AWS indication received either.
This form of approach release is no longer permitted for new work and hasn't been for some time. I am aware of a more recent example where the controls were altered to release in two steps for sighting reasons, but in that instance there was a clear stipulation that any step up to G
must take place before the train reaches the AWS, so that its usefulness is not diminished.