In ramping up robotaxi service, Tesla is hoping to slingshot past Waymo, another autonomous car service that operates in Phoenix, San Francisco, Los Angeles and Austin, according to its website. Last week, Waymo applied for a permit to test its vehicles in New York City.

Here’s what we know about the Tesla event so far. The launch will include a limited number of Tesla vehicles debuting in Austin on June 22. The initial rides will be in the Model Y and not the CyberCab that was unveiled in October.

The launch of the EV maker’s robotaxi service would cap a decade of promises about autonomous vehicles by Tesla CEO Elon Musk.