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General Motors Co. and Ford Motor Co. are seeking exemptions from US authorities to relax some rules related to testing of autonomous vehicles, according to Steven Cliff, the head of the National Highway Traffic Safety Administration.

The exemptions sought by the carmakers, posted on the agency’s website, will be open for public comments for 30 days, the notices show. The vehicle proposed by GM won’t have steering wheels, pedals, manual turn signals and mirrors, while the one offered by Ford is envisaged for the automated system to give commands for braking, throttle and steering.