The California Public Utilities Commission (CPUC) handed out permits to self-driving units of Alphabet Inc. and General Motors to allow for passenger service in autonomous vehicles with safety drivers present.

The self-driving services are now under Drivered Deployment permits and are sanctioned to collect fees from passengers and may offer shared rides to customers. Before the announcement, Waymo and Cruise had been allowed to provide passenger service only on a testing basis and were not allowed to charge passengers for their rides.

Starting from Monday, Cruise is permitted to provide the “Drivered Deployment” service on a few public roads in San Francisco between 10 pm and 6 am at speeds of up to 30 miles per hour. At the same time, Alphabet’s Waymo can offer robotaxi service in parts of San Mateo and San Francisco counties at speeds of up to 65 miles per hour, the CPUC said. Neither autonomous driving service can operate during heavy rain or heavy fog.

Earlier this month, Cruise and GM petitioned U.S. regulators for permission to deploy a limited number of autonomous driving vehicles without human controls like brake pedals or steering wheels.

Alphabet’s Waymo on Monday said it would use what it has learned operating its autonomous commercial ride-hail service in Arizona and apply it to their growing robotaxi service in San Francisco.