Google (GOOG,GOOGL) executive Chris Urmson says he expects to see self-driving cars on roads by 2020.

Urmson said that he doesn’t believe self-driving cars would run into many regulatory issues. However, he believes that cost, technology and public acceptance will be the hardest things for self-driving cars to overcome. Google is looking for help from auto manufacturers to assist with its self-driving car, reports MarketWatch.

Urmson said that Google hasn’t yet come up with how it will make money off of its self-driving cars. The company has been testing its own prototype and has also ordered 150 more to be made, Fox News notes.

“What we really need is to get to the point where we’re learning about how people interact with it, how they are using it, and how can we best bring that to market as a product that people care for,” Urmson told Fox News.

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