A compact driverless bus on Tuesday slowly shuttled a dozen passengers on public roads near the Makuhari Messe convention center in the city of Chiba to give them a sense of the steering wheel- and pedal-free future of transport.

One of the passengers, Noriyuki Sakayanagi, was amazed at the distance the bus traveled without a human driver.

"It wasn't scary" to ride the bus on a public road, said Sakayanagi, who was attending the first day of CEATEC 2019, one of Japan's biggest international digital trade shows that this year marks its 20th anniversary.