From his time inside a robotaxi startup, Alex Roy knows what it really takes to build a business around self-driving technology.

The venture-capital partner, business advisor, podcast host and founder of the Human Driving Association examines Tesla’s pending robotaxi launch in Austin, Texas, and discusses whether robotaxis can become a profitable business.

He further discusses the capability of Tesla’s “Full Self Driving” software, considers Waymo’s head start and details the four companies he believes have the potential to become long-term leaders in automated driving.