Google has announced its safety drivers will begin testing fully self-driving vehicle prototypes on the streets of Mountain View, California this summer after undergoing rigorous testing at Google’s test facilities.

The self-driving car that Google will be testing will feature the same software that its existing fleet of self-driving Lexus RX450h SUVs uses, which has logged nearly a million autonomous miles on the roads.

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Each prototype will have its speed capped at a neighborhood-friendly 25 mph and during the next phase of the project, Google will have safety drivers aboard with a removable steering wheel, accelerator pedal and brake pedal all installed so that they can take over driving if necessary.

Google hopes in the coming years to launch small pilot programs with its prototypes to learn what people would do with vehicles like this.

This article originally appeared at AutoGuide.com