SAN FRANCISCO (KGO) — A Waymo driverless car hit a bicyclist in an intersection in San Francisco on Tuesday, the robotaxi company says.

Waymo says the cyclist was blocked by a truck that had entered the intersection of 17th St. and Mississippi St., near the Potrero Hill and Mission Bay neighborhoods.

New Waymo study shows robotaxis get in far fewer crashes than human drivers

The Waymo vehicle waited their turn but was not able to see the cyclist.

Once the cyclist became visible, Waymo says the car braked but was not able to stop in time.

The cyclist had minor injuries and was not taken to the hospital.

Here is the statement Waymo provided to ABC7 News:

“On February 6th at 17th Street and Mississippi Street in San Francisco, one of our vehicles was involved in a collision with a bicyclist. The Waymo vehicle was at a complete stop at a four-way intersection. An oncoming large truck progressed through the intersection in our direction and then at our turn to proceed, we moved into the intersection. The cyclist was occluded by the truck and quickly followed behind it, crossing into the Waymo vehicle’s path. When they became fully visible, our vehicle applied heavy braking but was not able to avoid the collision. Waymo called police to the scene and the cyclist left on their own, to our knowledge reporting only minor scratches. We are making contact with relevant authorities surrounding this event.”

If you’re on the ABC7 News app, click here to watch live