Run Google Assistant in locked screen with Siri shortcut

I use a ok google Siri shortcut to open google asisstant. When it opens is directly ready for voice input, so then I tell google asisstant "take me home by bike" and it just opens google maps and directly starts navigation to home (in my bike route).

Since I am on a bike, I want to do that with Siri and the Airpods... but... it tells me to unlock my iphone, which I cannot do while cycling. Google Assistant wouldn't open with the locked iphone.

You may ask why do I want google assistant. In this case is because if I tell Siri "Take me "somewhere" using google maps" it opens google maps but it does not start navigation directly, you still need to interact with the screen to start listening to directions.

Only way I found to make my shortcut run is to set iPhone to unlocked always, which is not ideal.