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Nearly a decade after Google launched its self-driving car project, the company's efforts to commercialize autonomous technology is finally coming to fruition.

Starting today, Waymo, the subsidiary spun from Google to handle autonomous driving, is offering commercial service with its self-driving Chrysler Pacifica plug-in hybrid minivans. The service is called Waymo One.

Approximately 400 riders who participated in the company's pilot program in the greater Phoenix area have first crack at using the minivans. The vehicles can be hailed via an app 24 hours a day and be used to travel around Phoenix and four of its suburbs.

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