Lexus RX450H Incident

Operator was approaching stop sign at the intersection of [XXX] westbound and [XXX] northbound, which is a planned disengagement (this unprotected turn is outside of our ODD). If left in autonomy, the vehicle would have come to a full stop before the stop line and remained stopped until the operator took over. 6 seconds prior to incident, operator took the vehicle over manually before it could have stopped in autonomy. Operator moved the vehicle manually passed the stop line, colliding with a bicyclist's back tire. No injuries reported from the bicyclist or the operator and no damage to the vehicle or bicycle.