WASHINGTON (AP) — Legislation that could help usher in a new era of self-driving cars advanced in Congress on Wednesday after the bill's sponsors agreed to compromises to address some concerns of safety advocates.

The Senate Commerce, Science and Transportation Committee approved the bill by a voice vote, a sign of broad, bipartisan support. It would allow automakers to apply for exemptions to current federal auto safety standards in order to sell up to 15,000 self-driving cars and light trucks per manufacturer in the first year after passage. Up to 40,000 per manufacturer could be sold in the...