The company was given the regulatory go-ahead to drive on freeways last summer. And now, after more than 1.9 million miles clocked on the mean streets of L.A., Waymo is finally ready to take on our glorious city's most stereotypical and notorious feature.

Waymo robotaxis have become a common sight on Los Angeles surface streets. Now those driverless vehicles are heading to the city's network of freeways.

The backstory: Waymo has been operating its fleets of autonomous taxis in greater Los Angeles for more than a year, expanding the areas its all-electric Jaguars service to 79 square miles from Santa Monica to downtown. Read on ... to find out why some experts think freeways might be easier than surface streets for the robot taxis.