First Drive: Cadillac reinvents driving with hands-free Super Cruise
Detroit-outfitted self-driving cars featured at CES tech show in Las Vegas
"It's important to know that if you have an (Level 4) car that's being tested with safety personnel in the car, it's not actually being tested in a (Level 4) mode, it's being tested in (Level 2) mode," Pratt said.
Toyota offered no details on the type of self-driving vehicle it wants to have by 2020, or whether this vehicle would be ready to enter production then.
Toyota is a major sponsor of the 2020 Tokyo Olympics, so perhaps these autonomous Toyotas could shuttle people between sporting events, similar to how self-driving BMW sedans outfitted by Aptiv (formerly Delphi) are transporting CES conventioneers this week to and from Las Vegas destinations.
GM's plans call for more than 300 Bolts -- the exact size of the fleet hasn't been announced -- that would operate within set geographic boundaries in the cities where they roll out.
Ableson said that pulling off a self-driving car without a driver "is a huge step."
Google-owned Waymo is on pace to have its fleet of driverless Chrysler Pacificas moving riders as soon as next month's opening ceremony for the 2018 Winter Olympics in South Korea.
Waymo already has the Pacificas on Phoenix-area roads without any drivers inside. A Waymo spokesman said Monday that the company is still on track with its announcement n November that a local rider service using the driverless vehicles would happen in the "next few months."
Ford, for its part, is still aiming to have a Level 4 driverless car in production beginning in 2021. The company is expected to reveal more about its autonomous vehicle business strategy on Tuesday, when CEO Jim Hackett gives a keynote speech at CES.
Speaking with reporters Monday, Toyota's Pratt cautioned against focusing too much on which level of autonomy each company has achieved. The categories top out at Level 5, when a vehicle could drive itself all of the time and may not even need a steering wheel.
"I think it's much better to discuss what are the environments that the car can handle," Ableson said. "How many unexpected things can it handle? Can it deal with unprotected left-hand turns, for instance?
"Can it deal with a long line of traffic where it needs to negotiate amongst human-driven cars -- where is the autonomous car going to be let in? That's quite a hard thing for cars to do. I think all of us have a lot of work to do," he said.
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