NOTES : Participle as modifiers

S+V+O+verb-ed+blah... [ Main Clause + Present Particle + ... ]
S+V+O+verb-ing+blah...[ Main Clause + Past Particle + ... ]

I will, however, point out one thing of enormous importance that you haven't addressed here at all, which is the presence/absence of a COMMA after the main clause (the thing you've written s+v+o).

If there's NO COMMA before a participle, then the participle creates an adjective phrase that modifies the noun immediately preceding.
If there's a COMMA before a participle, then the participle creates an adverb phrase that modifies the action of the preceding clause.

examples:
Joe picked the fruit hanging from the tree. 

joe, who was probably on solid ground, picked the fruit that was hanging from the tree. 

Joe picked the fruit, hanging from the tree. 

 joe was hanging from the tree while he picked the fruit. for instance

I think that the following sentence is perfectly fine: the pedestrian was hit by a car, sustaining multiple major injuries

although it would probably be better written as
the pedestrian was hit by a car and sustained multiple major injuries

i think that, as long as the 'verb-ing adverb phrase' refers properly to the action in the main clause (whether that action is in the active or the passive), you're fine.