One of the most stupid things about self-driving cars may be that 'interference' in what will be perceived as an optimised 'system' will be tolerated increasingly less.
If self-driving cars come along and they're the non-owned roaming type everyone is talking about, then all the road-side parking space that pricks use now will be freed and there's your cycling lane.
Also, since they have to cater for bikes and peds during the 'introduction' phase, they will be able to cope going forward. Why would they then remove the ability for the cars to deal with peds and bikes - they're not going to suddenly disappear from roads.
I look forward to being the most destructive thing on the roads then.