Tim Kentley-Klay, the co-founder and CEO of Zoox, one of the most high-profile and well-financed startups in the self-driving car world, has left the company, according to a person familiar with the matter. In a tweet, Mr. Kentley-Klay said he was fired.

Carl Bass, the former CEO of Autodesk who has been a board director of Zoox, has stepped up to be executive chairman, this person said. A CEO search is under way. Jesse Levinson, the other co-founder who has been CTO, was named president. Mr. Kentley-Klay will remain on the company's board.