A self-driving shuttle bus was involved in a minor crash on its first trip in Las Vegas.

Less than two hours after its unveiling ceremony, the bus was taken out of service after a minor incident with a delivery truck.

"The shuttle did what it was supposed to do, in that its sensors registered the truck and the shuttle stopped to avoid the accident," Las Vegas officials posted on social media.

"Unfortunately, the delivery truck did not stop and grazed the front fender of the shuttle."

About eight people were on the shuttle at the time of the incident. Police said no injuries were reported.

The delivery truck driver was given a ticket by police.

It was the first self-driving shuttle pilot geared towards the public in the US.