The National Highway Traffic Safety Administration on Thursday said its Special Crash Investigation Program is probing the incident, which occurred June 3 in San Francisco – a day after California regulators granted Cruise permission to commercialize its robotaxi fleet.

Occupants of both vehicles involved in the crash received medical treatment for “allegedly minor injuries,” according to a mandatory report filed by Cruise with the California Department of Motor Vehicles.

According to the report, filed by Cruise Vice President of Global Markets Todd Brugger, a Toyota Prius entered an intersection after traveling straight via a lane designated for turning. The Cruise vehicle was attempting to make a left-hand turn across several lanes of traffic and had stopped to allow the car to turn.

The Prius was traveling about 40 mph in a 20 mph speed zone when it struck the Cruise vehicle, according to the filing. The Cruise vehicle was in “autonomous mode” at the time of the crash.