Autonomous cars will be in showrooms as early as 2019, or maybe even sooner, according to a report released by KPMG and the Center for Automotive Research,

The report’s authors explain that “sensor-based technologies” and “connected-vehicle communications” need to converge. Essentially, cars need to be able to communicate with other vehicles on the road so they don’t bash into each other.

They also need the ability to sense and respond to the surrounding infrastructure: stop signs, street lights, guardrails, and many other basic transportation signals.