I'm not sure with the trucks. My guess is requiring cameras that provide a view of the problem areas might be the thing, possibly with some AI that detects cyclists and the like. I think a lot have warning signs on now for cyclists. Personally I never stop anywhere near them and treat the red lights as kind of give ways.

I'm not sure the highway code rules are that appropriate for places like central London. I tend to treat the whole place like a pedestrianised area - not worrying too much about road signs but giving way to pedestrians.