I think that a lot of the problems with both cyclists and (car) drivers is down to attitude and ignorance.
Cyclists often don't drive, many of them seem to think that the rules that govern licensed drivers don't apply to them, and there is often a built-in assumption that whenever a cyclist comes off worst, it's the fault of the licensed driver.
A very long time ago, when I started out, it was on a bike, not because I wanted to ride a bike but because I couldn't afford anything else. Then a moped, then a motorbike, and I ended up driving old bangers that didn't stop, steer or go, and I had to learn how to maintain and repair them myself. And, as a 21 year old student, I got a part time job night trunking lorries, no training or HGV license back then. The only thing that I now drive is a car, but my experience of driving different types of vehicles does help me to understand the difficulties of the people who are driving something very different...
Today, most car drivers learn to drive in a tiny new car crammed with technology, they have no idea how it works, no idea what its cornering and braking limitations are, and because of their ignorance they have no idea when it comes to other vehicles either.
I've seen several comments in this thread about what the truck driver should or could have done, and can only assume that these comments are from people who have no idea what it's actually like to drive a lorry and have no idea how difficult it can be to see a suicidal cyclist (or car driver) that takes it upon themselves to be in a stupid place. Survival instinct should inform the decisions of people who are going to come off worse if there is any contact, but perhaps it's ignorance due to lack of experience, or an attitude problem, but for whatever reason, a lot of cyclists and car drivers behave very aggressively and very stupidly