Playing devils advocate here.. Couldn't you argue a driverless car simply needs less space to guarantee the same/better safty for the cyclist?
Relying on each an every driver to leave enough space just in case you need to swerve is a losing proposition.
There are just too many roads where you can't swerve without causing a head on collision. If you make it a reflex to swerve, then you will also do it when there is no space for other traffic to avoid you.
Maybe a self driving car could react quicker in a situation like this, but it's still good to leave cyclists some space.
Your self driving car shouldn't be getting points on your licence for you.