A newly released Tempe, Ariz., police report sheds light on last week’s crash involving Uber Technologies Inc.’s self-driving vehicle, revealing that the sport-utility vehicle was hit after entering an intersection on a yellow light.

Police had already ruled that Uber’s vehicle, which the company has said was in autonomous mode, wasn’t to blame. Statements to police suggest turning traffic blocked both parties’ views before the collision, raising new questions about what the sensors and cameras onboard the Uber vehicle could...