Ford will mass-produce autonomous vehicles without steering wheels by 2021, Ford chief executive Mark Fields said today at the Ford Research and Innovation Center in Palo Alto, California. Recode reports:Fields announced that the company is working toward launching a fleet of commercial, level 4 (one level below a completely autonomous system, in which drivers don't have to be engaged) vehicles in a ride-hail service by 2021. The details of that ride-hail service -- such as which company Ford will partner with to operate it -- still haven't been determined. As part of that effort, Ford is investing in Velodyne, a self-driving tech company, and is working with three other startups. Ford has acquired Israel-based computer vision and machine learning company SAIPS, struck up an exclusive licensing agreement with machine vision company Nirenberg Neuroscience LLC and, as previously announced, invested in 3-D mapping startup Civil Maps.