I don't see why not. If I were writing a self-driving car I would care that

1. My car stays in lane and obeys the rules of the road

2. It doesn't hit anything

Fulfilling 2) is "easy", you just need to make sure you have sensor coverage within a safe stopping distance.

Besides, a biker is just a faster cyclist, and it's common and often legal for cyclists to merge from the sidewalk, if the sidewalk is marked for that purpose