We already can; it’s just a question of what’s most economical and what side effects are considered acceptable. There are a number of electric vehicle designs that are possible, but the most common right now are hybrids, or plug-in hybrids that charge their batteries from external sources–from “the grid,” to use your terminology. There are also cars that can use chemical batteries, static energy, or even kinetic energy, although I’m not aware of any cars in production that use that method. In order to transition to totally self-generating electric power sufficient to drive cars, the level of technology of batteries I think will need to increase, or else we develop fuel cell cars (hydrogen fuel cell cars, for example, are a very real possibility). For now, though, plug-in hybrids are probably going to be the norm for some time to come, because they’re more economical both to manufacture and to purchase and maintain. I would expect to see more “off grid” vehicles in maybe the second or third major wave of electric cars.
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