Construction of the "dual freeway" began in early 2002, at a cost of $182 million (equivalent to $ in ). The northbound lanes were scheduled to open in February 2006. The southbound lanes were completed in early 2007. That year, a three-year project began to allow robot controlled vehicles, including buses and trucks, to use a special lane. The intention is to allow the vehicles to travel at shorter following distances and thereby allow more vehicles to use the lanes. The vehicles will still have drivers since they need to enter and exit the special lanes. The system was designed by Swoop Technology, based in San Diego County.