In our region, the waste collection company, Grundon have been really great about educating their drivers, and have installed extra cameras and mirrors so they CAN see cyclists. They've also done a roadshow at cycling events, getting cyclists into the cab, to show what the problem is (or was), and I think have also got their drivers to get on bikes, to see it from the other side. This is all the more impressive in that we are semi rural, so I'd say it's less relevant, I don't think I've ever seen one of their trucks whilst on a ride (note to self, must get out for more early morning rides).
They've done it really well on the PR side anyway, I suspect that it may not be fully rolled out and implemented, and some of the drivers may not be as reasonable as the ones they take on the roadshow. But I really respect the fact that they are making the effort, and raising the bar.