California’s Department of Motor Vehicles (DMV) a rule change that would let companies deploy “light-duty” autonomous trucks on public roads. Specifically, it seeks to allow the testing of self-driving vehicles weighing less than 10,001 pounds with an approved permit from regulators, provided they don’t charge a delivery fee.

Organizations would still have to apply for a deployment (public use) permit to make their autonomous technologies commercially available, the DMV says, and the regulations would exclude the testing or deployment of autonomous cars weighing more than 10,001 pounds. But the tweaked rules appear to be a step toward legalizing the kinds of vehicles currently being piloted by Nuro and Udelv, among others.

Today’s release marks the start of a 45-day public comment period (ending May 27,

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