The exact terms of the agreement have not been revealed.
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The woman was hit by a regular vehicle back October.
The impact threw her into the path of a driverless car at 5th and Market Streets in San Francisco.
RELATED: GM's Cruise recalling all 950 robotaxis after SF pedestrian dragging incident
She was then pinned under the car as it attempted to pull over.
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Cruise said the incident was caused by a software malfunction.
The incident led the DMV to suspend Cruise's driverless taxi license in San Francisco.