I think the main thing two things to learn here are:
1) Self-control. You never, EVER, want to ride at 100% on roads. This should keep you, for the most part, out of compromising situations. Pushing yourself to your limits is only going to create panic and pucker factor. And you don't learn anything when you're panicked. You'll only get faster if you concentrate on being smooth, and being aware of what you're doing.
2) Accept the fact that crashing CAN happen, even to YOU. In the event that you ARE in a compromising situation, be smart. Be *willing* to crash. I'm not saying you have to WANT to crash - no one wants to crash. But keep in mind that sometimes, purposely laying it down is the BEST decision. Trying to hold off, and ride something out, might place you in a MUCH worse scenario. If you can accept the fact that "Yes, I may crash..." then when you ARE in a bad situation, you can think straight. Rather than, "Oh my god I'm going to crash," it's "Ok, I'm probably gonna crash... would I rather hit that bush, or a tree?"
I used to ride like an idiot on the street. (well, I still kinda do...) But I used to ride at 100% - as hard, and as fast, as I possibly could. I did anything I could to stay at the front of the group (this is back when I first met DanO.) I was just as fast as he was at MX, so hey, I should be just as fast as him on the street. We had the same bike, so if he can do it, I can do it. Wrong attitude. Now, I was fortunate enough to have kept the bike on two wheels, after all these years. I've had 3 wrecks - 2 were thanks to other people not seeing me, and 1 was due to my own stupidity. I've had MANY close calls, however. I think part of the reason I'm still in one piece, is that when I sensed I was in a compromising situation - I instantly started looking for the softest, safest way to crash. I stayed calm. I didn't let myself get totally out of control.
My rule is this: if you absolutely do NOT want to crash, and will do anything within your power to not crash - then you shouldn't be riding.
Now I don't know what could've prevented Andy's crash... staying loose and relaxed definitely wouldn't have stopped the guard rail from messing him up. Guard rails are bad news (as we all now know.) Without knowing him, or the situation, I would say he was just going too fast. It sucks... but lets learn from it.
I don't like to ride where there are guard rails, other people, cars, etc... that's why you never see me even attempt to join up with some of the group rides that run downtown, through the suburbs, etc. I stick to the backroads, and that's it. I want plenty of runoff room. I don't trust idiots in cars. And I don't like hard objects right next to the road.
Now I wish Andy, his family and friends, the best of luck, and I pray for a speedy recovery. He has some big changes in store for him now. Let's take as much of an advantage of this as we can, and learn all there is to learn.