Consultant anaesthetist Jonathan Ball, 46, was driving his Skoda Yeti on Stanningley Bypass on November 24 when the collision happened.
Wakefield Coroner's Court heard the HGV broke down in the early evening and was stationary on the nearside lane of the double lane carriageway with its hazard lights illuminated
as the driver waited for help to arrive.
Area Coroner Jonathan Leach, said: " He saw a vehicle travelling in the same direction as his vehicle, which failed to manoeuvre or slow down and collided with his lorry.
"The driver went to give aid and found Mr Ball unresponsive. Paramedics attended and death was certified at 7.18pm."
The inquest opening was told Dr Azzam Ismail gave the preliminary cause of death as multiple skull fractures following a road traffic collision.
Mr Leach said Mr Ball, was a married man of Apperley Road, Apperley Bridge, Bradford.
Mr Leach adjourned the inquest to a date to be fixed.
Police said the collision involving the Skoda Yeti and a white DAF tipper truck happened on the Bradford-bound carriageway of Stanningley Bypass near to Richardshaw Lane .
Mr Ball was a consultant anaesthetist at Bradford Royal Infirmary.
He had also worked as a medic for the Yorkshire Air Ambulance and had served with the RAF.
In 2014, Mr Ball completed the Marathon des Sables, a gruelling 156-mile run through the Sahara Desert in Morocco, raising over Â£600 for military charity Help for Heroes.
Professor Clive Kay, Chief Executive of Bradford Teaching Hospitals NHS Foundation Trust said following the tragedy: "We are shocked and saddened by Jonathan’s tragic death and we extend our deepest sympathy to his family.
"Jonathan was a hardworking, dedicated and talented anaesthetist and a great asset to the Trust. He will be sorely missed by all his colleagues and everyone who knew him."