According to the Beijing municipal commission of transport, entities registered only in China can apply for the road test.
The vehicle should be able to switch between self-driving and conventional modes, and be equipped with sensors and cameras so its driving behaviour and position can be monitored, the commission said.
The car should pass a technical assessment at a training ground before being allowed on open roads.
There are designated roads and hours for the test drive. A driver is required, and the driver will be held responsible if accidents occur, the commission said.
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The commission said that Beijing has businesses spread through the whole industrial chain of automated driving, and that the city will give greater support to the development and commercialisation of autonomous vehicles.
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