An appellate panel on Tuesday rejected the city of San Francisco's plea to halt the expansion of self-driving vehicle services in its borders, finding that a state regulatory commission had adequately addressed its concerns.

In a 47-page published opinion, the First District Court of Appeal said its oversight of the California Public Utilities Commission is already limited "and there is simply no basis on the record here to conclude the commission acted outside the confines of its authority or abused its discretion in issuing" the permit that allows Alphabet-owned Waymo to offer fare-based autonomous vehicle rides at all hours.