Can't you just hook your D+ wire to a switched wire in the truck that is only hot when the key is on? This should work as long as you don't spend much time with the key on but the truck not running. I wouldn't think you would spend much time with it that way.
There are voltage controlled relays. Sometimes also called automatic charge relays. Blue Sea makes one. They are typically used to combine 2 batteries to be charged by an alternator only when the engine is running. They will sense the voltage, make sure it's above 13.6 or whatever the set point is and then combine. They are typically large and made to carry high charge currents which you wouldn't need for your application with just a signal wire but it would still work just fine.