I WAS DRIVING MY FORD FUSION ON THE HIGHWAY, CHANGED LANES SO THAT I WAS BEHIND A TRUCK WITH REASONABLE ROOM. THE TRUCK HIT THEIR BRAKES AND WHEN I HIT MINE THE BRAKE PEDAL FELT SOFT. WHEN THE TRUCK CAME TO A COMPLETE STOP THERE WAS NO WHERE TO GO AS TRAFFIC WAS MOVING TO THE MY RIGHT AND I ENDED UP HITTING THE TRUCK. I COMPLETED A FULL BRAKE JOB INCLUDING NEW BRAKES ON THE VEHICLE WITHIN THE LAST 18 MONTHS. THERE WAS NO ABS ACTIVATION OR BRAKE LOCK UP UNDER FULL BREAKING AND I SHOULD OF HAD TIME TO STOP.