Five years ago, Waymo, a Google subsidiary, offered the first autonomous vehicle (AV) ride on public roads. After that demonstration, the company spent time refining its technology. For the past year, select customers have been beta testing Waymo’s AV taxi service, with roughly 10 percent of the rides being completely autonomous (i.e., there was no human driver on board to take control in an emergency). The company recently announced that its driverless taxi service is now available to the general public in the Phoenix area. Let’s take a look at the evolution of the vehicle’s design and the hardware and software that could soon be cruising around your neighborhood.