Arizona, United States - Fully autonomous vehicles may operate without a human driver if the operator files a law enforcement interaction plan with ADOT and DPS and a written statement that the vehicle meets federal standards, can reach a minimal risk condition, follows traffic laws and is titled, registered and insured. The ADS counts as the driver; ADOT may issue a cease and desist if filings are missing. No separate AV ride-hail permit.
California, United States - Two-layer system: the DMV issues testing (with driver), driverless testing and deployment permits; the CPUC runs drivered and driverless pilot (no fares) and deployment (fares) programs. Waymo holds driverless deployment authority and in August 2026 the CPUC approved paid driverless service across 18 counties incl. Sacramento and San Diego. Nuro holds a CPUC drivered pilot permit (May 2026). Tesla operates under a charter-party carrier permit with human drivers, not as an AV service.
District of Columbia, United States - A 2020 law created an AV testing program and required a DDOT deployment report due late 2022 that was not completed; passenger service needs new Council legislation, which had not passed as of October 2025. Waymo, Zoox and Nuro have tested in DC.
United States (federal) - No federal AV statute; vehicles must meet FMVSS or hold NHTSA exemptions. Vehicles without manual controls (Zoox, Tesla Cybercab) rely on exemptions or self-certification: Zoox got an AV exemption in August 2025 and a temporary commercial exemption for up to 2,500 vehicles a year in July 2026, enabling paid rides. NHTSA opened an audit query into Tesla's Cybercab FMVSS self-certification in September 2026 and investigates AV crashes through recalls and probes.
Florida, United States - Fully autonomous vehicles may operate with or without a human on board; the engaged ADS is deemed the operator and no licensed human driver is needed. No state AV permit is required, and local governments may not impose taxes, fees or for-hire requirements on AVs (airports and seaports may set facility fees and pickup zones).
Nevada, United States - Nevada passed the first AV law (AB 511, 2011). Developers register with the DMV testing registry (bond, insurance, fees) and receive a Certificate of Compliance; for operations manufacturers self-certify compliance with NRS 482A/482B per make, model and year. Waymo, Zoox, Motional and others operate in Las Vegas under this framework.
New York, United States - State law requires a human driver behind the wheel; testing needs a state DMV permit and, in NYC, city permits. Governor Hochul withdrew a proposal in February 2026 to allow robotaxis outside NYC; Waymo's NYC testing permits expired on 2026-03-31.
Texas, United States - SB 2807 (signed 2025-06-20, effective 2025-09-01) requires TxDMV authorization to carry passengers or goods commercially in automated vehicles with no human driver, plus a first-responder interaction plan filed with DPS. Rules were due by 2025-12-01, with compliance 90 days after they take effect. TxDMV can suspend, revoke or restrict authorizations for unsafe operation; local governments cannot add their own rules.
Tesla Robotaxi