San Francisco Mayor Daniel Lurie will soon allow Waymo robotaxis on Market Street, a move intended to revitalize the downtown artery, though it will also bring car traffic to an area where private automobiles remain banned.

Waymo’s fleet of white Jaguar SUVs is a familiar sight on many San Francisco streets, but not on the city’s iconic Market Street. That’s about to change.

Autonomous vehicles from Waymo will soon be rolling down Market Street in San Francisco, Mayor Daniel Lurie announced Thursday.