Google's self-driving car has logged more than 700,000 miles on city streets in Mountain View, Calif., and can now navigate around pedestrians, cyclists, and roadside hazards, Google announced on its blog.

Since its last update on the project, Google has updated the software powering the self-driving Lexus SUVs equipped with sensors to detect "hundreds of distinct objects simultaneously," including pedestrians, buses, a stop sign held by a crossing guard, or a cyclist making gestures to indicate a possible turn.

"With every passing mile we're growing more optimistic that we're heading toward an achievable goal—a vehicle that operates fully without human intervention," wrote Chris Urmson, director of the project.

View a video of the self-driving car in action here.