NEW YORK (KRON) — History was made today after a self-driving car made a successful 3,400 mile cross-country road trip.

The Audi Q5 supplied by Delphi Corp. outfitted the car with radar, sensors, cameras and lasers drove itself from San Francisco to New York.

Drivers intervened once when traffic was weaving around in a construction zone, and again when the car didn’t want to move into a busy left lane. But for the most part, it easily navigated bridges, traffic circles and open highways.

According to Jeff Owens, Delphi’s chief technology officer, the vehicle needed to be able to read a larger variety of lane markings.  All the data collected on the trip will go towards a safe, more commercially available self-driving car.