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Toyota and Hyundai this week announced plans to broaden their respective U.S. hydrogen fuel-cell semi truck projects.

The Japanese automaker has been collaborating with truck maker PACCAR for several years on fuel-cell test vehicles, but on Tuesday it an announced an expansion of the joint effort aimed at pushing fuel-cell trucks toward production.

“The expanded agreement supports ongoing development and commercialized zero-emission versions of the Kenworth T680 and Peterbilt 579 models featuring Toyota’s hydrogen fuel cell powertrain kit,” a Toyota press release said, “with initial customer deliveries planned for 2024.”

Both the Kenworth and Peterbilt brands are part of the PACCAR truck family.

The Toyota-PACCAR project builds on years of early efforts involving Kenworth trucks being put to use in California, mainly around ports in Los Angeles and Long Beach to gauge their ability to reduce local emissions and improve air quality. Known as Project Portal, this goes back to 2017.

“We are excited to work with PACCAR to realize a future where Toyota’s industry leading hydrogen fuel cell technology can power heavy-duty trucks that will travel across highways throughout the U.S. with zero emissions,” Christopher Yang, Toyota Motor North America group vice president of business development, said in a statement.

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