Mr Kelly had previously pleaded not guilty
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A lorry driver who killed a motorist on the M4 has admitted causing death by dangerous driving.
James Kelly, 54, had denied the charge but changed his plea, saying he had no recollection of the crash involving his lorry and an ambulance.
Mark Jenkins, from Swindon, had phoned for an ambulance while driving on the M4 between Bristol and Bath in August 2002.
He was being treated at the roadside when the lorry, driven by Kelly, hit the ambulance, Bristol Crown Court was told.
The 28-year-old was pronounced dead at the scene and two paramedics were injured.
Kelly, from Pontypool, south Wales, has been banned from driving and will be sentenced on 17 February.
The prosecution said witnesses watched as the lorry swerved, drifting between lanes one, two and the hard shoulder for some distance before the crash.
In a police interview, Kelly said he had had a good night's sleep the night before and had only been travelling for about an hour when the collision occurred.
He said he had no recollection of drifting into other lanes or of the collision itself.