I ran over an entire truck re-tread that had unpeeled itself and was lying in the road. I was driving an RV. Front-engine Class A. Took out the muffler/exhaust pipe, which then banged into the driveshaft, rendering it out of balance, then ripped off a bumper piece from the trailer I was towing, and the exhaust pipe chunked out one of the trailer tires. No way to avoid the tread - it was lying across the lane, and appeared to be the entire cap. There was a semi to my left, and a ditch to my right. Just had to ride it out.
I'm really glad I was pulling a trailer, and not my tow vehicle. It could have been even more expensive.
You bet, if there is no where to go, you’re going to hit the debris, as it seems you did. And if you would have swerved into the truck, you’d be liable.