"Looking for a clear path" screens facing the driver and passengers read several times during the trip, when the auto stopped next to some traffic cones or behind double-parked vehicles.
The largest USA automaker's plan for a self-driving car-sharing service comes at a time when auto sales in its home market are slowing after a record seven-year streak of gains.
Some of GM's share surge has come from investors betting on its investments in self-driving and electric cars, although the company's profits are driven entirely by demand for trucks and SUVs in North America, and its growing sales in China.
The company is already operating a fleet of self-driving Chevy Volt's in San Francisco, run by GM's autonomous driving subsidiary, Cruise Automation.
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GM said it is important to be first to get the self-driving electric vehicles on the road so the rider experience can be improved quickly and give the company a competitive advantage.
Chief Financial Officer Chuck Stevens reportedly said that, "This business is potentially bigger than our current core business".
Waymo, which is Google's self-driving vehicle spinoff, was the first to take the driver out of the seat on public roadways earlier this month. GM added that there was still much more hard engineering work to be done.
German automaker Daimler AG has teamed up with supplier Bosch to develop autonomous taxis by 2020.
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In a note to clients Friday, Barclays analyst Brian Johnson wrote that instead of the "overly-aggressive timelines pushed by Tesla", GM's ability to launch autonomous vehicles for a ride-sharing service now "seems possible".
"We have been committed since we first started talking about our efforts and when we purchased a portion of Lyft to building self-driving cars that operate in a ride-sharing environment", Ray Wert, head of Storytelling and advanced technology communications at General Motors, said.
The slides posted on GM's website also say the company is the leader in the field, but is focused on self-driving vehicles safety.
GM estimated the total ride-sharing market could reach $1.6 trillion once it hits 75 percent of all rides in the U.S. Now it's less than 1 percent.
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GM is far from the only traditional automaker investing in autonomous technology and ride-hailing services. The Associated Press reports GM made the announcement Thursday, Nov. 30 to investors.