It could be the year of the self-driving car — Japanese car maker Toyota promises it’ll have autonomous vehicles on the market by 2020, the same year Google is shooting for.

The self-driving car market is beginning to rev up. Japanese car maker Toyota on Tuesday announced that it planned to have self-driving cars commercially available by 2020 — the same year Nissan, General Motors and Google plan to have autonomous vehicles on the road.

Toyota revealed that it has been testing its self-driving technology with a car called the Highway Teammate, a modified Lexus GS that’s been cruising around Tokyo’s busy Shuto Expressway. It has safely and successfully been changing lanes and merging into or exiting out of highways, all completely autonomously.

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