Could you seen him in his mirrors? That's a big clue if he can see you.
My rule of thumb anywhere near big rigs (side from get the heck away from them as soon as possible) is to closely watch everything about them. The mirrors, the indicator lights, lane position. And while yes I do believe they do everything they can to drive safe and cautiously (it is their job after all) I know I am microscopic compared to them and take it upon myself to protect me. Normal cagers are just generally clueless, but big rig drivers have a genuine reason why they may not see you.
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Hold yourself to the same rules you expect others to follow.
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