(Bloomberg) — Existing U.S. laws pose few barriers to adoption of autonomous vehicle technology so long as cars and trucks stick with existing designs allowing humans to take control, the agency overseeing traffic safety said Friday.

It’s only when manufacturers push the envelope by developing vehicles without such things as traditional steering wheels and brake pedals that regulations may block new autonomous technology, according to a report released by the National Highway Traffic Safety Administration.

NHTSA issued the report in a briefing on its efforts to speed the adoption of driverless cars and other technology that assists human operators. It was produced by the John A. Volpe National Transportation Systems Center, which does research for the Transportation Department.

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