Clues:
1. when he told molly that he needed her
-for what? for his plan, obviously.
2. when he told john to stay where exactly he is
-to hide the trick from john
3. when sherlock jumped, you can a see a truck carrying bags of garbage or plastics
-this is where sherlock jumped safely.
4. when john was about to approach sherlock, a biker bumped him
-to let john to stay away from the “landing site” so sherlock can pour blood on the pavement
5. when john try to take sherlock’s pulse, there was no pulse
-i don’t know if you remember this but sherlock said something about rhododendron. this plant makes the person who take it to suffer mad-honey disease or making the person to have a mortal paralysis, or more likely, be dead for a few minutes or hours.
and i believe that all of these things were planned from the time sherlock asked molly for some help. this is just a theory after all on how he survived the fall. i can be wrong. hehe