def tact_to_strat_proj_truck_cut_in_6d(x_r, x_h, x_t):
    """Project the given robot, human, and truck tactical states to the 5D strategic
    state corresponding to the truck cut-in scenario.

    Arguments:
    - x_r: robot state
    - x_h: human state
    - x_t: truck state

    The state is
        x = [xR, yR_rel, vR, xH, yH_rel, vH]
    where
        - xR: the x-coordinate of the robot.
        - yR_rel: the relative y-coordinate of the robot with respect to the
          y-coordinate of the truck.
        - vR: the absolute y-velocity of the robot.
        - xH: the x-coordinate of the human.
        - yH_rel: the relative y-coordinate of the human with respect to the
          y-coordinate of the truck.
        - vH: the absolute y-velocity of the human.
    """
    return ([
        x_r[0],
        x_r[1] - x_t[1],
        x_r[3],
        x_h[0],
        x_h[1] - x_t[1],
        x_h[3]
    ])