Hello,
Tim ...
It is obvious that the refuse truck driver is at fault !!! ...

It appears that he failed to come to a complete stop at the stop sign ...

There are no skid marks for either vehicle which suggests that neither vehicle was travelling at an excessive rate of speed. It also suggests that the truck may have never stopped and just continued on into the through lane of traffic.
The refuse truck driver should be given a breathalyzer and drug screen, as it appears that he may have been impaired.
Another brilliant rescue demonstration,
Tim, with really GREAT custom tools !!! ...

Thanks for sharing and all the best,
Richard