Elon Musk explained his plans to expand Tesla vehicles’ self-driving capabilities, to allow owners to add their cars to Tesla’s ride-sharing fleet, in a blog post on Wednesday.

Elon Musk Unveils ‘Master Plan’ For Autonomous Vehicles

“When true self-driving is approved by regulators, it will mean that you will be able to summon your Tesla from pretty much anywhere. Once it picks you up, you will be able to sleep, read or do anything else en route to your destination,” Musk wrote on the company’s blog.

Musk added that the extra money earned by self-driving via Tesla’s ride-share could even exceed a car owner’s monthly payment.

Musk also detailed the automaker’s plan to manufacture “solar-roof-with-battery products,” a component of Tesla’s acquisition of Solar City, a solar energy company reportedly run by Musk’s cousin, Lyndon Rive.

Tesla has been criticized recently due to reports of two car crashes involving autopilot, a driver-assist program that uses cameras and radar to change lanes, navigate traffic, and brake.

Yet, Musk believes autopilot can still be a safe program if used correctly.

“When used correctly, it is already significantly safer than a person driving by themselves and it would therefore be morally reprehensible to delay release simply for fear of bad press or some mercantile calculation of legal liability,” Musk wrote.

Musk did confirm that it may take regulators a long time to approve the program — and believes that “worldwide regulatory approval” will require about 6 billion miles. As of today, fleets are driving about 3 million miles per day.