Tesla Inc. is aiming its driverless taxis for the San Francisco Bay area as the carmaker plots an expansion on the heels of last month’s limited rollout in Austin.

The EV maker files paperwork for Phoenix and San Francisco, but it has some hurdles to clear before approval, and already had a small accident in its first city.

Tesla's Robotaxi service launched last month in a geofenced area in South Austin, with a reported 10-20 Model Y cars, and it was only open to a small number of people. Musk didn't say whether the expansion also means introducing more cars to the mix.