Florida Highway Patrol has published a sketch of the accident. Can't see any other possibility but driver distraction.
Looks to me like the Tesla (V02) was coming up to an intersection and the truck (V01) was making a left turn coming in the opposite direction. The Tesla did not "see" the truck because it was a similar color/contrast to the sky and decided to proceed straight through the intersection, going under the truck and chopping off it's roof and likely the driver's upper body was severely injured. The car then continued off into the ditch and smashed through some other things.
It does sound like a driver who wasn't looking ahead at the road.
A normal driver coming up on an intersection where you see people are turning left usually will slow down, be cautious and ready to apply breaks if the idiot turning left decides to cut you off. Also, the lights sometimes are turning yellow then red.... People see yellow and assume you will stop, so they start their left turn in your path. Sometimes people try to beat the red and accelerate straight into the path of a left-turning vehicle.
Either way, intersections demand WAY MORE attention than straight stretches of road. I can't see any fault of Tesla's either, except that they may have over-hyped the ability of these technologies. I am pretty sure there is a big warning screen that comes on when the car turns on that warns people though.
If anything good should come out of this tragedy, it should be that his death will cause more people to pay attention to the road and not trust their cars so much to handle things. We need a wake-up call and shake people out of this false sense of security. Even the naming of these systems has to change.