Waymo and Cruise can now operate their self-driving vehicles round-the-clock in San Francisco and San Mateo County following a controversial vote.

A California commission voted on Thursday to approve the expansion of driverless taxi services in San Francisco, allowing companies Waymo (owned by Google) and Cruise (owned by General Motors) to operate their self-driving vehicles 24 hours a day, seven days a week. This move makes San Francisco one of the first cities in the U.S. to permit such widespread commercial deployment of autonomous vehicles at all hours of the day.

The vote followed a contentious public meeting that lasted over seven hours and drew more than 200 public comments. Both companies had previously been operating a limited number of driverless vehicles during off-peak hours in the city, but with the new approval, they can now expand their services significantly.

Tekedra Mawakana, co-CEO of Waymo, expressed excitement over the vote, emphasizing the potential for greater mobility and accessibility in San Francisco. “We can’t wait for more San Franciscans to experience the mobility, safety, sustainability, and accessibility benefits of full autonomy for themselves,” she said in a statement.

Prashanthi Raman, vice-president of global government affairs at Cruise, called the decision a “historic industry milestone,” adding that it would help the company compete against the “inaccessible transportation status quo.”

The vote had been delayed twice by the California Public Utilities Commission (CPUC) due to concerns from local officials, particularly the San Francisco Fire Department, which expressed doubts about the readiness of the vehicles for emergency situations. These concerns were raised again during the meeting, with some suggesting that the cars were “not ready for prime time.”

Despite the objections, the expansion has been lauded by disability advocates. Groups such as the Blinded Veterans Association, the Epilepsy Foundation of Northern California, and the Curry Senior Center voiced strong support for the move, highlighting that autonomous vehicles would increase access to transportation for people with disabilities. “Far too many people still find it far too hard to get where they need to go safely,” they wrote in an open letter.

However, some disability rights groups expressed concerns, saying the companies have yet to make their vehicles fully accessible. Blind passengers and those with mobility issues pointed out that the driverless cars currently don’t pick up or drop off passengers at the curb, which can be particularly challenging for those with disabilities. Additionally, some noted that the vehicles are still not equipped to serve the needs of all individuals with accessibility requirements.

The approval comes after months of debate, but the California Public Utilities Commission (CPUC) has yet to establish accessibility standards for self-driving vehicles, a concern that still looms large for many.