Police said the Uber vehicle was in autonomous mode with a vehicle operator in the front seat. Uber confirmed the news in a Monday afternoon tweet, in which it said it was fully cooperating with the Tempe Police Department in the investigation.
The company's chief executive, Dara Khosrowshahi, said the incident was "incredibly sad".
Uber expressed condolences to Herzberg's family and says it is working with local law enforcement on the investigation.
Uber launched its self-driving research program in 2015 and had deployed cars on roads in Phoenix, Pittsburgh, San Francisco, and Toronto. Herzberg died at a local hospital from her injuries.
A self-driving Uber auto fatally hit a woman in Arizona on Sunday night. There were no other passengers in the vehicle.
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Outside Phoenix, Arizona, in a suburb called Tempe, a self-driving Uber SUV struck a woman around 10 PM on Sunday night.
Autonomous vehicles are seen as a means of reducing large numbers of traffic crashes - which obviously matters to collision repairers.
The Silicon Valley rideshare giant was heavily criticized in 2016 when its prototypes were caught running red lights during Uber's first trial run in California.
Volvo said: "We are aware of the incident and our thoughts are with the family of the woman involved".
The National Transportation Safety Board was sending a small team of investigators to Arizona to gather information about the Uber crash.
Apple has been testing its autonomous vehicles on public roads in California near its Cupertino headquarters since a year ago. According to the preliminary investigation, the auto was going about 40 miles per hour during the accident, and Elckock said there weren't significant signs of the vehicle slowing down.