Waymo says its self driving vehicle struck a cat in San Francisco only after the animal suddenly darted underneath as the car began to pull away … TMZ has learned.

A company spokesperson tells TMZ … “The trust and the safety of the communities we serve is our highest priority. We reviewed this, and while our vehicle was stopped to pick up passengers, a nearby cat darted under our vehicle as it was pulling away.”

The spokesperson continued … “We send our deepest sympathies to the cat’s owner and the community who knew and loved him, and we will be making a donation to a local animal rights organization in his honor.”