[Faark]

> and then taking over when necessary

Yes, and that has to be safely possible. From my reading, the article has no problems with remote operators giving command. The truck just also needs the ability to both safely execute them and come to some safe state by itself if necessary commands don't arrive [in time].

The interesting question is how complicated those safe states are to realize. Just hitting the breaks on a freeway seems hardly acceptable. Generally, this being harder than for cars in cities is a core conclusion of the article.