According to US security researchers, a self-propelled Uber test vehicle that met and killed a woman in 2018 had software problems.
Elaine Herzberg, 49, was hit by the car when she crossed a road in Tempe, Arizona.
The US National Transportation Safety Board (NSTB) found that the car did not properly identify it as a pedestrian.
The detailed findings raise a number of safety issues, but do not determine the likely cause of the accident.
The Security Agency is expected to make that determination when it meets on 1
The results released on Tuesday can also be used to formulate recommendations for the developing autonomous driving industry. The industry has been scrutinized after the accident.
The fatal accident occurred in March 2018 and concerned a Volvo XC90, with which Uber had tested its self-propelled technology.
Immediately before the accident, Ms. Herzberg was riding a bicycle over a poorly lit track on a multi-lane road.
According to NSTB, Uber's test vehicle was able to identify the bicycle as a threatening collision shortly before the impact.
At this time, it was too late for the vehicle to avoid the accident.
"The system design did not include considerations for jaywalking pedestrians," NTSB said.
According to the report, there were also 37 Uber vehicle accidents in self-drive mode between September 2016 and March 2018.
In a statement, Uber said: "We deeply appreciate the thoroughness of the NTSB investigation into the accident and look forward to to review their recommendations. "
Earlier this year, the prosecutor decided that the company is not responsible for the death of Ms. Herzberg.
The driver of the replacement vehicle, however, could continue to be subject to criminal charges.
The police-leaked dash cam shots showed Rafaela Vasquez, the car's replacement driver, turning her eyes away from the road moments before the accident.
Further recordings of the Hulu streaming service indicate that Ms. Vasquez had streamed a TV talent show on a phone at the time of the crash.
Following the crash, Arizona authorities placed Uber's testability on self-driving cars on the state's public roads.
The company then pulled the plug for its autonomous operation in Arizona, although the company later resumed testing in Pennsylvania.