See belowAFAIK, in CA, when testing with a safety driver, AV companies have to report disengagements and collisions. When testing without a safety driver, AV companies only have to report collisions. When deployed driverless in a commercial service, they only have to report collisions.
The DMV website, does not law make.But it's a DMV deployment permit, not a testing permit. Go to this DMV page and click on the links for Driverless Testing and Testing with a Safety Driver. Under the "Requirements" area of each you'll see rules for Collision Reporting. But click on the link for Autonomous Vehicle Deployment Program and you'll find no such requirement for collision reporting. I'm sure if you dig deep enough into the actual regulations you'll see where this is all spelled out. I found out about it by reading some article or blog post I didn't save, but found the DMV web page which backs it up.
For both:
The law itself is unambiguous on this. It quite literally specifies "in any manner involved".
A manufacturer whose autonomous vehicle[0] while operating under a Manufacturer's Testing Permit[1] or a Manufacturer's Testing Permit -- Driverless Vehicles[1] is in any manner involved in a collision originating from the operation of the autonomous vehicle on a public road that resulted in the damage of property or in bodily injury or death shall report the collision to the department, within 10 days after the collision, on Report of Traffic Collision Involving an Autonomous Vehicle, form OL 316 (Rev. 7/2020) which is hereby incorporated by reference.
In any case, I guess we'll let the DMV decide as I've emailed them for clarification on this missing incident report.