In an interview Tuesday, Mr. Peduto said he wants the National Summit on Design and Urban Mobility to recommend guidelines for good corporate citizenship, including retraining workers displaced by the move to self-driving vehicles and making sure the full community has access to the service.

Pittsburgh has been at the center of the development of self-driving technology, with Carnegie Mellon University working in conjunction with General Motors Corp. for more than 30 years. As the industry has gone through a major growth spurt in the past two years, Uber and Ford AI, among others, have established bases of operation here, and Uber began testing self-driving vehicles in the city in September.