American drivers are warming towards self-driving vehicles, according to a new study from AAA.

The annual survey reveals that 63% of U.S. drivers report feeling afraid to ride in a fully self-driving vehicle, compared with 78% last year. Millennial and male drivers are the most trusting of autonomous technologies, with only half reporting that they would be afraid to ride in a self-driving car.

“Americans are starting to feel more comfortable with the idea of self-driving vehicles,” said AAA Automotive Engineering and Industry Relations Director Greg Brannon. “Compared to just a year ago, AAA found that 20 million more U.S. drivers would trust a self-driving vehicle to take them for a ride.”

Women (73%) are more likely than men (52%) to be afraid to ride in a self-driving vehicle, and more likely to feel less safe sharing the road with a self-driving car (55% versus 36%).

Millennials are the most trusting of self-driving vehicles, with only 49% reporting that they would be afraid to ride in a self-driving car.

“AAA found that American drivers are very confident in their driving abilities, which may explain some hesitation to give up full control to a self-driving vehicle,” Brannon said. “Education, exposure and experience will likely help ease consumer fears as we steer toward a more automated future.”