Self-driving car company Voyage has announced that it has completed a $31 million Series B fundraise, which brings the company’s total capital raised to $52 million.

Voyage will use this capital for a variety of purposes, including expanding its fleet of G2 self-driving cars in California and Florida, and to introduce its G3 self-driving car.

“At Voyage, our mission is to deliver on the promise of self-driving cars, and we are thrilled to be working with forward-thinking investors who deeply believe in that mission,” Voyage says.

“Together with these new resources, we will deliver an autonomous ride-hailing service to customers who truly need it!”

According to Voyage, many of the residents in its communities don’t have access to transportation options that work for them, so the company wants to provide a viable option for residents that would allow them to move around independently within a community. This, Voyage says, starts with a self-driving car that can travel point-to-point within the communities at speeds up to 25 miles per hour.

Having spent more than two years working on its driverless product, Voyage says that its vehicles are capable of “intelligently and autonomously” navigating complex neighborhoods, as they safely transport passengers from door to door.

Recently, engineers have made several advancements to enhance the capabilities of the vehicles, including moving to a “safety-critical and certifiable middleware, shipping a brand new prediction engine with an over 10x performance improvement, and creating triple redundancy in our perception system.”

Voyage says that the capital that it has raised thus far will “take us to the next level, enabling us to commercialize safe, self-driving technology within and outside these communities.”

“As the state-of-the-art advances, we will advance our self-driving technology with more capabilities, such as faster speeds, enabling driverless in progressively more complex communities,” Voyage says.

Voyage points out that its self-driving car project started with a simply retrofitted Ford Fusion that the company named the G1. While the company knew that the G1 couldn’t take it “all the way to driverless,” Voyage says that the G1 “was an integral step on our technology roadmap.”

Voyage believes that its G2 self-driving Chrysler Pacifica hybrid minivan, which is equipped with “incredible sensor vision and best-in-class safety systems,” will be the vehicle to take the company driverless.

“This funding and our unique partnership with Enterprise and communities like The Villages will enable us to build and scale more G2 self-driving cars to better serve the communities in which we operate,” Voyage says.