original_query: What are the requirements set by the California DMV for companies like Waymo in terms of reporting incidents during testing? What is the most relevant chunk to answer the query?
query: What are the California DMV's requirements for companies like Waymo regarding reporting incidents during autonomous vehicle testing?
answer: The California DMV requires companies like Waymo to report the number of incidents where the human driver took control for safety reasons.  There's some controversy surrounding the distinction between driver-initiated disengagements that are reported and those that aren't, based on whether simulations indicate the car would have stopped independently.