The technical report from the page above is worth reading: https://
storage.googleapis.com/waymo-uploads/
files/documents/safety/SafetyPerformanceofWaymoROat1Mmiles.pdf
… Pages 11 to 13 have a detailed description of each of the 20 incidents (spoiler: "Human drivers violated road rules and/or behaved dangerously in every vehicle-to-vehicle event").

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