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@ZMC
Let me introduce myself, I'm a former HGV1 (articulated) driver. I used to drive professionally for major supermarkets, as well as brief spells in transport management. I am also licensed to drive other vehicles. These days I am an avid cyclist and do 4,000-6,000 miles a year, so I can clearly see both sides of this problem.
To me the problem can be sorted out by better training and pay for drivers, the reduction and or elimination of agency drivers, and a double sided camera (much like a webcam) built into the nearside door. There are mirrors that do cover the areas, but the visibility is poor. Sensors would certainly help too.
To save money, and for convenience many companies use agency drivers. This is one of the biggest problems in the industry. Good drivers have an unstable work environment and there is a high likelihood of an incompetent driver getting behind the wheel.
I think lorry bans are an impractical idea. Large goods vehicles are the only way of supplying the public with products in anything like the amounts needed.