Honestly, I do not consider stopping squarely in the middle of the highway and blocking one of the lanes as the "correct" way to handle this situation. I'd rather expect that the truck at least knows how to stop in a safe manner, i.e. by moving to the shoulder first. A large number of accidents (probably even the majority) here in Europe are caused by drivers crashing into stopped vehicles on highways, so having AI-controlled cars stop in the middle of the road is clearly not acceptable.