Tesla CEO Elon Musk said that the company’s custom-built chip designed for use in autonomous driving technology is nearly ready.

Tesla is one of a number of carmakers developing self-driving technology, but it stands apart because it’s been developing its own silicon for performing artificial-intelligence computations, rather than continuing to rely on systems from ongoing chipmakers like Nvidia.

“Very importantly, the Tesla self-driving chip technology that we’ve been working on for three years is finally coming to fruition,” Musk said on Tesla’s second-quarter earnings call.