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Cops said the car was in autonomous mode with an operator behind the wheel when the woman was struck in Phoenix.
The woman – who is yet to be named – died of her injuries in hospital.
Uber has been testing self-driving vehicles in Tempe and Phoenix for months.
Police have launched an investigation, and is co-operating with Uber.
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It is the first known fatal collision of its kind.
Uber said in a statement on Twitter: "Our hearts go out to the victim’s family.
"We are fully cooperating with local authorities in their investigation of this incident."
It added it will suspend the use of self-driving cars in Phoenix, Pittsburgh, San Francisco and Toronto.
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Uber's CEO Dara Khosrowshahi said on Twitter: "Some incredibly sad news out of Arizona.
"We’re thinking of the victim’s family as we work with local law enforcement to understand what happened."
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