Chandler police said the van was operating in autonomous mode.
This is not the first time an autonomous auto is involved in a crash.
"We are concerned about the well-being and safety of our test driver and wish her a full recovery", Waymo said in a statement.
It swerved sharply before crashing into the driver's side of the Waymo vehicle.
According to Tyler, the Honda swerved to get away from a third vehicle that appeared, causing the collision. The Waymo van was reportedly hit by sedan after it swerved into the wrong lane in order to avoid another collision. As the Honda swerved, the vehicle continued eastbound into the westbound lanes of Chandler Blvd. and struck the Waymo Vehicle which was travelling at a slow speed in autonomous mode.
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"Today while testing our self-driving vehicle in Chandler, Arizona, another auto traveling in an oncoming lane swerved across the median and struck our minivan", Waymo said in a statement to SlashGear.
"There was an occupant in the Waymo vehicle sitting in the driver's seat, who sustained minor injuries", he added.
Police in Arizona are now investigating the crash, which occurred fewer than two months after a self-driving Uber struck and killed a pedestrian in another part of the state.
The head of Waymo, formerly Google's driverless vehicle project, said at the time his company's technology could have avoided that accident.
Waymo did not immediately respond to Newsweek's request for comment.