What the "safety driver" was (or was not) doing is far less important than the safety/emergency brake system being turned off. Looking to blame them for the crash in some way is utterly missing the point:
1) The car should have detected and stopped for anyone in its path. To miss an adult & bike is an utter travesty of the system's claimed suitability for real-world use.
2) At what point did they test the car/configuration in a test range with typical objects?
3) Most believed the driver was there to take over if the car gave ample warning of a fault of situation it could not handle.
4) As seen in the Air France crash, even skilled pilots with minutest to react have real difficulties in taking over from an autopilot when conditions were too difficult for its capabilities.