By making the car act more like people expect it to
From the paper (which doesn't really pedestrian-blame as GP suggests)
> In each instance, the Waymo vehicle had decelerated and stopped immediately prior to the contact or simulated contact in a way that may have differed from the cyclist’s or pedestrian’s expectations
Okay? But that wasn't the question you asked. Part of the answer to your question is that cars should neither hit pedestrians nor do erratic things that set up a collision.
From the paper (which doesn't really pedestrian-blame as GP suggests)
> In each instance, the Waymo vehicle had decelerated and stopped immediately prior to the contact or simulated contact in a way that may have differed from the cyclist’s or pedestrian’s expectations