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Autonomous vehicle technology has been primarily developed by the private sector, with a focus on the automobile industry and fourth industrial revolution technology. However, for self-driving cars to become reliable forms of urban transportation, the private and public sectors must collaborate. The Seoul Metropolitan Government operates three self-driving test beds, namely, Sagam, Gangnam, and Cheonggyecheon, and has implemented various measures to support the use of autonomous vehicles as a means of urban transportation, such as an open platform for traffic signals, roadside safety facilities, dedicated road signs and lanes, and deregulation. This paper explains the technical and institutional support provided for autonomous-driving services in Seoul and suggests ways to build a safer and more effective autonomous driving environment.