Following the initial testing phase in Japan, the companies plan to introduce the vehicles in the United Kingdom and other markets served by Waymo in the coming years.
The partnership marks a major step towards expanding autonomous ride-hailing services in Japan using high-volume, domestically manufactured vehicles.
Toyota will manufacture the vehicles at its Takaoka plant in Toyota City, Aichi Prefecture.
By combining Toyota's global manufacturing and vehicle development expertise with Waymo's fully autonomous technology, the companies aim to accelerate the global deployment of safety-validated Level 4 autonomous vehicles.
Toyota and Waymo will also explore the application of autonomous driving technology to privately owned Toyota vehicles.