In what frame of reference does friction exists? What is friction?
Wikipedia defines friction as:
Friction is the force resisting the relative motion of solid surfaces, fluid layers, and material elements sliding against each other.
But forces are relative, so in what reference does friction exists? We normally assume that when we say that a force acts on a body, we mean that the force acts on the body from the frame of the ground.
But then consider a block on the truck, both have the same acceleration with respect to the ground and further assume that surface of both are rough.

So in what reference does friction exists in this case? From the respect of ground, there is a force acting on the block, from Newton's laws, in the direction of acceleration. Is this friction force? No, that is the force by which the truck is moving, from this reference I can just regard the block to be part of the truck and there is no need to invoke friction force at all.
Now is there friction force from the reference of truck? No again since the block is not moving at all from the reference of the truck, hence there could be no friction.
So is there friction at all or not in the cases?
Now let the block be made of ice and the surface of the truck is wet, then the acceleration of the block will be different from that of the truck, say it is in the direction of acceleration of the truck but with a lower magnitude than that of the truck. Now from the reference of ground, there must be a force against the acceleration, it is friction. But what type of friction is this? Is this static or kinetic friction?
So in what reference is there a need to introduce friction force? And How does one decide the type of friction from reference other than the surfaces between which the friction exists?
 A: Consider the situation where the truck is accelerating with respect to the ground, and also let the block be stationary with respect to the truck, as in your situation. Then consider the frame of reference of the truck.
Then since the truck is an accelerating reference frame, the block feels a "fictitious" force (call it $G$), pointing backwards off the truck. If the block is stationary with respect to the truck it must therefore be the case that there exists a force $F$ counteracting $G$. That is friction.
A: When the truck starts to accelerate, the block tends to stay still because of its inertia. So there is a tendency to a relative motion between the deck and the block. Whenever there is a relative motion or a tendency to the relative motion, there is a friction force, if rough surfaces are in contact with each other. That is the force that accelerate the block with the truck. This is with respect to the ground frame.
If you consider from the reference of truck the block stands still. But it has a fictitious force $ma$ to the backward direction because it is moving with $a$ acceleration with respect to the ground frame. To balance this force there must be a opposite force, and that is the friction.
Thus, no matter what reference frame you are considering, friction force exists if they are rough surfaces.
A: 
... forces are relative ...

No, they are not. The real forces on an object (and that includes friction) are the same in any reference frame. However, if you work in a non-inertial reference frame (such as the reference frame of an accelerating truck) you may have to introduce pseudo forces in order to pretend that objects (like the block) are in equilibrium when they are not.
In the non-inertial reference frame of a truck accelerating with acceleration $a$, there is a backwards pseudo force $-ma$ on the block. This is opposed by a forwards friction force $ma$, so that the block is stationary relative to the truck.
In the inertial reference frame of the ground, there is only one horizontal force acting on the block, the forwards friction force $ma$. This accelerates the block forwards with acceleration $a$ so that it is stationary relative to the truck.
Note that the friction force is exactly the same in either reference frame.
(I am assuming throughout that $a <= \mu g$, so the maximum static friction is not exceeded and the block does not slip on the truck).
