Pony.ai, the robotaxi startup that operates in China and the United States, has started testing driverless vehicles on public roads in California ahead of plans to launch a commercial service there in 2022.

The company said the driverless vehicle testing, which means the autonomous vehicles operate without human safety drivers behind the wheel, is happening daily on public roads in Fremont and Milpitas, California. Pony.ai is also testing its driverless vehicles in Guangzhou, China.