He took a bit different route than the IOIO RC truck we saw earlier in the week, but the concept is basically the same. That build used an IOIO board with a USB Bluetooth dongle. This one uses an Arduino Mini with a serial Bluetooth module. He patched into the motor driver circuits on the original PCB. While he was at it he also soldered in some LEDs to use as switchable headlights.
There was one issue which he had to overcome. The current draw from the motor starting up would sometimes dip the voltage low enough to reset the Arduino. He tried using a bigger capacitor to feed the board, but in the end opted to add a boost converter.