From the video, it's obvious LaVoy wasn't charging the agents. The agents were the ones doing the charging and killing. LaVoy appears to have intentionally and successfully distracted the agent's attention and possible gunfire away from the vehicle and its occupants by presenting himself as an easy target. I say this because of how quickly he moves away from the vehicle, even in deep snow, presenting himself with hands raised, totally out in the open. No reason to do that, unless you're trying to draw attention/gun fire away from the vehicle.
His actions and the fact the others remained inside the vehicle is probably what may have saved their lives. I'd like to see the remainder of the video and learn the truth about how many rounds, flash bangs, and tear gas was used in attempt to draw the others from inside the vehicle. And let's see the dash cam and body cam footage with audio.
That narrative keeps changing...the fog of war. sarcasm tag off