The California Public Utilities Commission announced Thursday that it will allow General Motors’s Cruise and Alphabet’s Waymo—which is backed by the Canada Pension Plan Investment Board and Ontario auto-parts manufacturer Magna—to offer fee-charging, self-driving taxi services around the clock in San Francisco. (The Logic)

Talking point: The regulatory approval eliminates most limitations on operating and charging for rides, and is a milestone for the autonomous vehicle industry as it expands one of the largest test cases in the world for self-driving cars without safety drivers. The two companies have over 500 autonomous vehicles between them and both have driven over one million driverless miles. Waymo will be allowed to drive at speeds of up to 65 miles per hour, while Cruise is permitted to reach up to 35 miles per hour. The CPUC’s vote comes in spite of opposition from residents and city officials, who have raised concerns over how autonomous vehicles have disrupted emergency services and delayed bus routes. In late July, Waymo announced that it would be slowing its self-driving truck project to focus on robotaxis.