I feel like the ideal scenario would be to prioritize self driving truck at set times and set long haul freeways (i.e. Long Beach to Las Vegas or Galveston to Dallas) during the night time when there is no regular auto traffic - for example from 1 am-6 am.
That way if a human driver is concerned, they can choose not to drive during this period of time.
Perhaps run the trucks in a train style configuration where a "conductor" can sit in the lead truck and manage any emergency issues that arise (i.e. security, crash or weather related).
If fully autonomous, I could see securing the cargo being real issue - what would stop a few cars passage in front of the truck and helping themselves to the cargo.
That way if a human driver is concerned, they can choose not to drive during this period of time.
Perhaps run the trucks in a train style configuration where a "conductor" can sit in the lead truck and manage any emergency issues that arise (i.e. security, crash or weather related).
If fully autonomous, I could see securing the cargo being real issue - what would stop a few cars passage in front of the truck and helping themselves to the cargo.