The entrepreneur made the pledge as he announced an improved microchip for its driverless vehicles.
Mr Musk told investors he expected regulators to approve ride-hailing in some areas for autonomous vehicles.
He added: "I feel very confident in predicting autonomous robotaxis next year."
Mr Musk said he expected the scheme to operate on a model similar to that of Uber or Airbnb.
The company unveiled computer hardware for what it said was "full self-driving" capabilities in the form of the new microchip.