Elon Musk has long railed against the U.S. government, saying a crushing number of federal probes and safety programs have stymied Tesla, his electric car company, and its efforts to create fleets of robotaxis and other self-driving automobiles.

Elon Musk had a lot to say about Tesla’s upcoming Robotaxi service on Wednesday. Robotaxi will be coming to Austin and other cities later this year, Musk claims.

While the initial testing will use Tesla's own fleet of cars, regular customers may be able to add their cars to the ride-hailing fleet next year, Musk says.