@
NeverFollow , a sensible rule for cyclists (assuming it is an overtaking situation,
with cyclist on the right), is to subordinate the strict legal requirement of
never crossing a solid yellow line,
and offset the car to the left while passing.
The car would need to run a subroutine in case oncoming traffic
disallows the safe crossing of the yellow line -- for example, by slowing down to match the cyclist's speed.
My guess is that these two maneuvers handle 65-70% of car versus cyclist interactions.
Since AP is not equipped to handle sign or stoplight controlled intersections,
I suspect the remaining risk scenarios involve a cyclist that fails to yield appropriately,
and would be treated much like a deer v. car.
It is going to be fun when the first accident happens,
and the software development staff is called to the stand to explain their decisions.