The United States’ top automotive safety regulator has opened an investigation into Tesla’s decision to launch its new Cybercab on public roads with no steering wheel or pedals.

The National Highway Traffic Safety Administration (NHTSA) announced Friday morning that it opened the probe mere hours after Tesla put the first Cybercabs on the streets of Austin, Texas. Federal vehicle safety regulations require manual controls like brake pedals, though the Department of Transportation recently proposed removing those requirements for vehicles that are designed to be autonomously driven.

“NHTSA fully supports the safe development and deployment of automated vehicles. But as the federal regulator, we need to ensure that all of our laws are followed,” administrator Jonathan Morrison said in a statement. “Our approach of balancing innovation with safety oversight will allow the United States to maintain its global leadership in AV innovation.”

NHTSA said Friday that Tesla told the agency it self-certified the Cybercab as being compliant with all of the Federal Motor Vehicle Safety Standards (FMVSS). Automakers traditionally self-certify whether their vehicles comply with FMVSS rules.

In the filing, the agency said it was opening the investigation to “examine the process and technical data on which Tesla relied when certifying the Cybercab and related issues.” NHTSA said it will consider the extent to which the company’s certification depended on determinations that certain federal motor standards are inapplicable to the Cybercab.