LOS ANGELES — Four of the nearly 50 self-driving cars now rolling around California have gotten into accidents since September, when the state began issuing permits for companies to test them on public roads.

Two accidents happened while the cars were in control; in the other two, the person who still must be behind the wheel was driving, a person familiar with the accident reports told The Associated Press.

Three involved Lexus SUVs that Google Inc. outfitted with sensors and computing power in its aggressive effort to develop “autonomous driving,” a goal the tech giant shares with traditional automakers. The parts supplier Delphi Automotive had the other accident with one of its two test vehicles.

Google and Delphi said their cars were not at fault in any accidents, which the companies said were minor.

Since September, any accident must be reported to the state Department of Motor Vehicles. The agency said there have been four, but would not comment about fault or anything else, citing California law that collision reports are confidential.