Autonomous trucks for public roads are more complicated than cars

As such, they're not just concerned with those around them when they need to use two lanes, but sometimes checking that it's safe enough to use the opposite direction's lane too. Plus they need to ensure pedestrians have figured out what they're about to do as well. And then there's the occasional problem of what to do if a vehicle is parked or standing in the way (probably illegally). How do they resolve that situation?