Alphabet-owned Waymo has made its name with its robotaxi service, the only one currently operating in the U.S. Its vehicles, including Jaguars and Hyundai Ioniq 5 s, have logged tens of millions of autonomous miles on the streets of San Francisco, Los Angeles, Phoenix, and Austin.

Toyota Motor Corp. and Alphabet Inc.’s Waymo will explore collaboration on autonomous-driving technology, a potential boost to the Japanese carmaker’s efforts to catch up to the cutting-edge systems offered by major rivals.