BMW is curating a timeline for its very own fully autonomous cars – with plans to unleash them by 2021, as revealed by Automotive News.

BMW’s senior VP for autonomous driving, Elmar Fickenstein, said that, “We are on the way to deliver a car in 2021 with level 3, 4 and 5.”

For those unaware, level three autonomy still needs the driver to remain focused and possess control over the car. Meanwhile, levels four and five are said to be “fully self-driving,” which do not require the driver’s attention.

The shift from level three to level four will be a tough feat as this means the full responsibility of the vehicle will be transferred to the vehicle’s systems, instead of merely relying on the driver.

BMW’s new venture is joined by Intel and Mobileye, tech companies who are employed to develop the system. BMW, on the other hand, will be in charge of driving control – consisting of vehicle dynamics and functional safety.

The report also clarifies that a range of 7 Series models will be the first to take on the self-driving tech for testing by the end of this year.