Gov. Charlie Baker has filed a bill to regulate ride-hailing services such as Uber and Lyft, including a requirement that all drivers undergo state criminal background checks.

Baker said Friday his proposal would develop a "modern regulatory framework" for the companies, while also embracing their innovative approach to transportation.

In addition to criminal background checks on drivers, the bill would require the ride-hailing services to carry a minimum of $1 million insurance on every ride they offer.

Cab drivers and owners have called the services illegal and argue they should be subject to the same regulations as the taxi industry.

In February, Baker called for a six-month transitional period that allowed Uber, Lyft and other firms to continue operating for six months with private registration and insurance.