A pedestrian may illegally have entered a road, but still have right-of-way, and self driving cars will need to account for that.
However, protesting self driving cars will not change whether walking in the street is legal, since it already is not.
Therefore, whether you do so and get fined by police is entirely up to their discretion, which could change at any time for any reason.
If you want it to be legal, protest the illegality, not the car company.
If the law itself is unjust or inappropriate, protest the law.
Otherwise, enforcement is spotty at best, because the police have better things to do, such as ticket parked cars with expired tabs or meters.
If there were a sudden uptick in pedestrian-car collisions, you can bet they'll crack down.
None of the above addresses whether the law SHOULD be on the books, which is what people should put their efforts towards changing, if they feel is unjust. Protesting car companies that make self driving cars because they don't like an already existing set of laws is just misguided at best, and intellectually dishonest at worst.
That said... I think passengers in self-driving cars will learn to be more patient and we can allow self-driving cars to yield to pedestrians more often.