AV Regulations

U.S. state-level autonomous vehicle frameworks with Tesla and Waymo deployment and permit status across active or planned jurisdictions.

Updated February 6, 2026 at 1:29 AM UTCJSON API

Early work in progress. Not legal advice. Verify regulatory and permit details directly with the linked agencies.

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18 / 18 states

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Regulatory authorities

Arizona LegislatureArizona Department of Transportation (Motor Vehicle Division)Arizona Department of Public Safety

Regulatory requirements

Driverless Operation Allowed
Yes
Driverless Prerequisites
Submit a law-enforcement interaction plan to ADOT and DPS (A.R.S. § 28-9702(C)(1)) | Submit a written statement to ADOT acknowledging compliance items including FMVSS compliance/exemptions, minimal risk condition capability, traffic law compliance, and title/registration/licensing/insurance compliance (A.R.S. § 28-9702(C)(2))
Cease And Desist For Noncompliance
Yes
Public Company Submission List Available
Yes

Waymo

1
PermitNot Required In State Listed On State Submission Roster

Arizona does not operate a traditional statewide AV testing permit roster; ADOT requires document submissions for driverless operation and publishes a list of companies that have submitted to test/operate. Waymo appears on ADOT's public submission list.

Cities

Phoenix
verified
Serving riders

Serving riders in

Tesla

1
PermitConfirmed State Approval For Testing With Safety Driver

ADOT lists Tesla among companies that have submitted to test/operate; separate reporting also indicated ADOT approval for Tesla AV testing in the Phoenix metro area with a safety driver.

Cities

Phoenix
verified
Testing (safety driver)

Testing approval reported (safety driver on board)

Sources

Regulatory authorities

California Department of Motor Vehicles (DMV)California Public Utilities Commission (CPUC)

Regulatory requirements

State Permit Authorities
California DMV (testing permits, driverless testing permits, deployment permits) | CPUC (AV pilot and deployment authorizations for passenger service)
Public Permit Registries
CA DMV testing permit holders list | CPUC autonomous vehicle permits issued list

Waymo

4
PermitConfirmed permit

Public CA DMV and CPUC registries show active California authorizations for Waymo operations (testing/deployment and passenger service where applicable).

Cities

Los Angeles
verified
Serving riders

Serving riders in (public service; opened to all riders Nov 2024)

San Francisco Bay Area
verified
Serving riders

Serving riders in

Tesla

1
PermitConfirmed testing permit (driver)

California DMV's public testing permit-holder registry lists Tesla Robotaxi LLC as an active permit holder for 'Testing with a Driver' (statewide). Tesla is not listed on the DMV's driverless testing/deployment lists in the cited sources and is not listed on the CPUC AV passenger-service permit list in the cited sources.

Cities

California (statewide)
verified
Testing (safety driver)

DMV testing permit (driver required) — Tesla Robotaxi LLC

Sources

State regulation

CPUC — Autonomous Vehicle Program (Permits Issued)
California Public Utilities Commission·2026-02-06primary