Ford, which has been criticized by Wall Street for moving too slowly on the development of self-driving cars and trucks, plans to have a fully autonomous vehicle on the streets by 2021.

The commercial vehicle, which will not include a steering wheel or pedals, will be used by ride-hailing and ride-sharing companies around the world, the company said Tuesday.

Ford is not yet providing details on what the autonomous car-share vehicle will look like or who might buy it. The two largest ride-share companies in the U.S., Uber and Lyft, have contracts with thousands of people who use their own vehicles to provide rides.

While details remain unknown, it's clear Ford is sending a message that it's serious about self-driving cars.

"Our view is autonomous vehicles could have just as much of a significant impact on society as Ford's moving assembly line did 100 years ago," CEO Mark Fields told CNBC's "Squawk Box" earlier in the day.