FedEx Freight (FDXF) has been testing self-driving tractor-trailers for about two years and believes the technology is ready for wider use, though regulation remains the main obstacle, The Wall Street Journal reported Monday, citing CEO John Smith.

The company has operated autonomous truck tests on routes between Dallas and Houston and between Dallas and El Paso using vehicles with safety drivers, according to the report.

The trucks can handle most driving tasks, including navigating between freight yards and highways, with minimal driver input, the report said.

Smith told the news outlet regulatory approval, rather than technology capability, is likely to determine when autonomous trucks see broader deployment.

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