The first Prius came out in Japan in 1997. Honda can claim to have the first hybrid in North America, but by less than a year. The original Insight was a MPG champ, but it was only a two seater. The all aluminum body meant Honda was likely losing more per car than Toyota was on the Prius.
The Prius was cleaner in terms of directly harmful emissions(SULEV vs ULEV), but its rear seat is what really got it more attention than the Insight. The gen2 arrived in 2004 and it the model became a small mid-size with the utility of a hatchback and better fuel efficiency. The climbing gas prices didn't hurt.
The Insight2 was a decent hybrid, but, in hindsight, it did suffer from Prius envy. Honda would have been better off skipping it, and just bringing over the hybrid Jazz/Fit that it was based on. The ICE Fit is a strong seller here.
First off, while I think the fuel cell can have a future in personal transportation, using hydrogen for fuel in any car is a non-starter for the US because of infrastructure costs. Costs also mean that most hydrogen will just be a switch to a different fossil fuel instead of away. In the US it will be natural gas, which could conceivably switch to renewable methane in the future. Japan, though, is planning to take Australian brown coal, convert it into hydrogen, and then ship it to home. The plan uses carbon sequestering, but it doesn't catch all, and, like using renewables, adds cost.
The Mirai has a lower cost than the first Clarity, but the next Clarity should be a better car than the Mirai with better fuel economy and range. At the very least it will have 5 seats. And it was designed without GM's help or patents, so the FCEV after it will be even better. It will also have a lower cost than the Mirai. Not because the FC will cost less, but because Honda is also planning a BEV and PHV on the same platform.
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