I'm a long-time rider and lane-splitter in California, and I'm glad Tesla seems to be aware of permissible lane-sharing. This is a tricky one no doubt, and some riders split way too fast. Best thing to do for AP or FSD is to simply keep doing what it's doing and let the riders pass. If the AP or FSD knows to only enter and exit the HOV lane at legal ingress/egress points, I think that's going to help a lot. Drivers aren't supposed to cross that double yellow at all. Also, if it doesn't hug the right that will be good too.
As a rider, the worst case scenario is when people DART over the double yellow without looking. Those Tesla sensors are always on so I expect it (or FSD) will be better than a lot of drivers soon enough.
Maybe Teslas will learn not to over-react to splitters, or will know to move over to the left a bit when a motorbike is discovered, tricky though this may be.