Ford debuted its next-generation Fusion Hybrid Autonomous development vehicle this week. The second generation of the vehicle sports more production ready controls and LiDar sensors on top of an improved computer hardware platform. Improved field of vision on the sensors allowed Ford to have only two sensors as opposed to four in the first generation. The second generation follows the first, introduced three years ago. The company aims to have an SAE Level 4-capable vehicle commercially available by 2021 for ride-hailing and sharing purposes. Ford will also expand its test fleet, currently operational only in California to its home state, Michigan.

Watch the video for a look into Ford’s Autonomous Assembly Facility.

This week Uber was forced to cancel its self-driving pilot in San Francisco, its hometown. Although regulators are in possession of footage showing an Uber pilot vehicle running a red light, barely missing a pedestrian, a claim the company contest that it was driver error and not the software, the ultimate decision was based on the company not following proper permitting procedures. Although the Californian DMV offered Uber assistance and a clear road to permitting the company and State could not agree on workable rules around Uber’s demand for its technology to be classified as SAE Level 3 automation. It is not the end of Uber’s efforts though as it is piloting retrofitted Volvo and Ford Focus vehicles in Pittsburgh.

Twenty companies now have permits to test autonomous vehicle on public roads in California; the latest is NVIDIA, the supplier of Tesla’s autopilot chip was granted a permit earlier this week, with images of the test cars already appearing on various web portals, social media, and forums. The list is available here.