For seven years, Uber’s stance on complying with regulations has been consistent: Ask forgiveness, not permission.

On Friday, the ride-hailing company stuck to that position. It said it had no intention of ending a new test of its self-driving vehicles in San Francisco, even though California regulators had said the service was illegal because Uber had not obtained the necessary permits. Uber said its self-driving cars were still on the road and picking up passengers.

The dispute is rooted in Uber’s refusal to seek a permit from the California Department of Motor Vehicles, which would allow it to test autonomous vehicles under certain conditions. Companies like Google, Tesla Motors and Mercedes-Benz have all gotten such permits.

Uber officials contend that under the letter of California law, the company does not need a permit because the motor vehicles department defines autonomous vehicles as those that drive “without the active physical control or monitoring of a natural person.” Uber said its modified, self-driving Volvo XC90s require human oversight, and therefore do not fit California’s definition of an autonomous vehicle.