This is one of my pet hates, not just with lorries but with all drivers - pulling out into the second lane when the motorway is busy because some numbnuts thinks it's his right to pull out of the slip lane onto the main carriageway and doesn't understand that the dotted line on the exit of the slip road means give way. I mean yes, it's good manners to allow someone to pull out so they don't have to stop, but not when it means interrupting the flow of traffic on the main carriageway and causing people to brake.
I've been in the above scenario and just held my speed in the first lane for the simple reason I had now where to go because of overtaking traffic in the next lane. The joining car then resorted to abusive gestures because I hadn't "let him in" This ignorance of the highway code is wide spread. Even though I am polite when I can be and pull out to lane two, you could argue that politeness encourages this poor driving habit on the slip road. I see this problem at it's worst when a whole convoy of numpties come down the slip road nose to tail which makes it impossible for them to give priority to the traffic on the motorway as they should and filter in one by one. Whatever gear they might be in the brain is certainly not engaged.