Urmson spoke to CNBC as the technology giant begins its next phase of research into autonomous-drive vehicles.
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During this phase, a fleet of Google cars will move from the test track and onto the streets of Mountain View, California. And to better understand what the public thinks about sharing the road with these vehicles, the company has set up a website to get feedback from people living in and around the city.
"We want to understand what is beneficial or frustrating about having these vehicles in the community," Urmson said.
Public fascination—and to some degree, skepticism—with autonomous-drive cars has increased recently, following reports of a dozen minor accidents involving Google cars over the last six years.
Two of those accidents happened earlier this month. Google said the low-speed collisions happened when its cars, stopped at intersections and were rear-ended by drivers not paying attention.
"In both cases we were stopped for a number of seconds and then somebody rolled into us," he said.