Even though BMW is aggressively working on self-driving cars, its executives believe “large-scale” production of those cars remains a ways off.

“We believe that, at the moment, the technical and social challenges involved are still too great,” said Klaus Froehlich, a BMW board member responsible for development, at BMW’s annual accounts press conference in Munich. “In addition, adjustments must be made to the legal implications for customers and manufacturers.”

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BMW and Chinese search giant Baidu are working on a joint project to produce a self-driving car for the Chinese market.

The car is said to be in development since 2013, but no launch date has been communicated.

BMW has been testing self-driving cars since 2011 when a 330i was put to test on a closed circuit. The autonomous driving project continued in 2014 with a 6 Series Gran Coupe performing self-drifts, and last year, a self-driving BMW i3. In 2011 a test vehicle managed the drive from Munich to Nuremberg without any driver intervention. The company also previewed a series of autonomous functions last year at the Consumer Electronics Show in Las Vegas.