Self-driving cars could soon be roaming Boston streets from Dorchester to Hyde Park after the city granted permission for one company to begin testing city-wide.

Boston officials granted approval to nuTonomy, a Boston-based autonomous vehicle company, to begin testing their self-driving cars on all city roads. The move allows the company to expand beyond the Seaport, where testing has been limited until now.

“Continuing to test autonomous vehicles in a careful and methodical manner represents another step forward in helping us to achieve the vision for improved mobility that was established by residents during the Go Boston 2030 Transportation Plan public process,” said Mayor Martin J. Walsh. “If deployed thoughtfully, shared fleets of autonomous vehicles could offer the City of Boston the potential to improve safety on our streets, provide equitable connections to the MBTA, and offer a new source of mobility to all Boston residents.”

Gina Fiandaca, Boston’s Transportation Commissioner, said the city is hoping self-driving cars can help reduce vehicle and pedestrian deaths and increase transportation access.

“Autonomous vehicles have the potential to improve safety. That’s one reason why we feel like it’s important to be active partners around this technology,” Fiandaca said.

NuTonomy has been testing in the Seaport for nearly a year and a half. Last year the company said it has driven more than 600 miles on city streets, and has not had an accident.

Boston will continue to require nuTonomy to have two humans in the car, even during autonomous mode: one to monitor the car’s systems and another ready to take the wheel if necessary.

“We are proud to be the first company authorized to operate autonomous vehicles on public roads city-wide in Boston,” said Karl Iagnemma, president of nuTonomy, in a statement. “Being recognized by the City for our exceptional safety record is an important milestone for the entire nuTonomy and Aptiv team. Today, we are excited to have access to some of the most complex roads in North America as we continue to focus on improving the safety and efficiency of transportation in cities worldwide.”

Still, there are unlikely to be self-driving cars across the city immediately. In order to work properly, the company has to first map an area, so the sensors and software know what to expect. Fiandaca said nuTonomy has begun mapping in some areas.

NuTonomy has run two passenger pilot tests in Boston, including one with Lyft. It is unclear whether those will continue. The company did not immediately respond to questions regarding its expansion plans.