The leading automakers are set to develop the electric driverless vehicle for ride-hailing use.
Waymo will be using artificial intelligence, cameras and more for the automated driver and they will be working with Volvo's Polestar and Lynk & Co.
Volvo has also signed a deal with Uber Technologies Inc to use the self-driving cars.
The firm's self-driving development was stalled after after a self-driving Volvo SUV operated by Uber struck and killed a pedestrian in Arizona in 2018.
Earlier this year, Uber was handed a permit to test self-driving cars on public roads.
The ride-hailing app was issued the authorisation by the Department of Motor Vehicles in California almost two years after the fatal Arizona crash.
Although the firm scaled back on its autonomous car operations after the accident, the permit enabled them to revive the programme.
The state of California allowed firms to test self-driving technology as long as there is a backup driver in the vehicle.
In a statement, Uber said at the time: "We do not have an update as to exactly when we'll resume autonomous testing.
"Receiving our testing permit through the California Department of Motor Vehicles is a critical step towards that end in Uber's home city."
There is no word when the self-driving cars would launch.