The two-car collision happened just before 1 a.m. on eastbound lanes of the freeway near Bundy Drive, according to the California Highway Patrol.
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Investigators said someone was in the driver's seat of the Waymo vehicle at the time of the crash and its self-driving capabilities were activated. That person and the driver of the other vehicle involved in the crash suffered mild to moderate injuries.
The CHP said speed is believed to be a factor but additional details were not available. Authorities could not say which vehicle was at fault.
Waymo now offering robotaxi service in LA. Here's what you need to know
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Back in March, Waymo started offering driverless rides within a 63-mile radius, stretching from Santa Monia and Venice to downtown L.A. At that point, the vehicles weren't yet allowed on freeways.
In a statement to Eyewitness News, a Waymo spokesperson said an "autonomous specialist" was behind the wheel of the vehicle "when it was struck from behind by another vehicle traveling at a speed of approximately 86 mph in a 65 mph posted speed limit zone. The autonomous specialist reported feeling back pain and was taken to a medical facility by ambulance. We are in touch with the relevant authorities and will continue investigating this incident."