He turned the truck, carrying three pallets of food weighing 1800kgs, onto Lincoln Rd to drive back towards the hospital.
But as he turned left, Miss Haerewa, who had a front light and a rear light over her backpack, was pedalling in the cycle lane.
Herridge didn't see her, and ran her and her bike over, dragging her underneath the truck for approximately 10 metres.
Efforts to revive Miss Haerewa were unsuccessful, and she died at the scene from severe trauma to her head and chest.
Defence counsel Mark Callaghan said the victim's family may be willing to take part in the restorative justice programme.
He said Mr Herridge's previous convictions "are of some age" and "not really relevant to this charge".
Judge John Strettell called for pre-sentence and reparation reports to be prepared ahead of sentencing on October 1.