Terrified passengers film Waymo autonomous vehicle driving into live fireworks in San Francisco

Video footage of the incident shows a group of passengers who were shocked as the driverless car seemingly approaches lit fireworks in the middle of a street as the explosives are about to launch.

As the car gets closer, someone on the street appears to warn the vehicle to stop by waving their hand.

"No, no, no, don't go, don't go, don't go," one of the passengers is heard saying off-camera.

"Our Waymo just drove into a firework," a passenger says in the clip.

"Are we on fire, dude?" a fellow passenger asks.

"We take situations like this seriously and are committed to evaluating and learning from these events," the statement continued.

No injuries were reported to either the passengers or the vehicle, and the company reached out to the riders after their trip. The possession of fireworks, even "Safe and Sane" explosives, is illegal in San Francisco, the city's fire department said.

Elsewhere in San Francisco, some Waymo vehicles were towed when their batteries died after vehicles became stuck in traffic for hours.

"Our priority is keeping San Francisco moving safely, especially during major city celebrations," the Waymo spokesperson said. "On the Fourth of July, extreme traffic congestion in northern San Francisco disrupted normal operations for several Waymo vehicles."

"In coordination with local authorities and emergency services, our roadside assistance team worked quickly to clear our vehicles from the area," the statement continued.