The book is consistent with Mikasa Pinata’s answer:
Ford, on his own initiative, chooses to save Arthur.
If he explicitly states a reason, I skimmed over it,
but here’s an excerpt from the key conversation.
It occurs in front of Arthur’s house,
with Arthur lying in the mud to block the bulldozers,
and Ford seems to have deliberately made a special trip.
FP: Hello, Arthur.
AD: Ford!
Hello, how are you?
FP: Fine, look, are you busy?
AD: Am I busy?
Well, I’ve just got these bulldozers and things to lie in front of
because they’ll knock my house down if I don’t, but other than that, …,
well, no, not especially, why?
FP: Good, is there anywhere we can talk?
AD: What?
FP: We’ve got to talk.
AD: Fine, talk.
FP: And drink.
It’s vitally important that we talk and drink.
We’ll go to the pub in the village.
︙ (more discussion about the bulldozers)
FP: Listen to me—I’ve got to tell you
the most important thing you’ve ever heard.
I’ve got to tell you now,
and I’ve got to tell you in the saloon bar of the Horse and Groom.
AD: But why?
FP: Because you are going to need a very stiff drink.
︙ (more discussion about the bulldozers)
— The Hitchhiker’s Guide to the Galaxy, Chapter 1
The back story is equally sketchy, but this is relevant:
…
“None at all” is exactly how much suspicion
the ape-descendant Arthur Dent had that one of his closest friends
was not descended from an ape,
but was in fact from a small planet somewhere in the vicinity of Betelgeuse
and not from Guildford as he usually claimed.1 [Emphasis added]
Arthur Dent had never, ever suspected this.
This friend of his had first arrived on the planet Earth
some fifteen Earth years previously, and he had worked hard
to blend himself into Earth society—with, it must be said, some success. …
— The Hitchhiker’s Guide to the Galaxy,
Chapter 1 (from before the above excerpt)
Subsequent paragraphs indicate that he (Ford) spent a lot of time drinking.
Which brings us to Chapter 2, in the pub:
FP: …
How long have we known each other?
AD: How long?
Er, about five years, maybe six.
Most of it seemed to make some kind of sense at the time.
FP: All right.
How would you react if I said that I’m not from Guildford after all,
but from a small planet somewhere in the vicinity of Betelgeuse?
AD: I don’t know.
Why, do you think it’s the sort of thing you’re likely to say?
FP: Drink up.
The world’s about to end.
— The Hitchhiker’s Guide to the Galaxy, Chapter 2
____________
1 Already quoted by Valorum.