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Lorries without safety equipment to protect cyclists and pedestrians are going to be banned from travelling through London.
TfL and local authorities have joined forces to agree new rules which will come into force by the end of the year.
Any lorry over 3.5 tonnes will have to be fitted with sideguards to protect cyclists from being dragged under wheels, as well as mirrors to improve the driver's view of cyclists and pedestrians.
It will be enforced by CCTV cameras and on-street checks, and London Mayor Boris Johnson says there will be a "hefty" charge levied against those who don't comply.
HGVs have been involved in a number of fatal accidents with cyclists in the capital in recent years.
There were 14 cyclist deaths in London last year, nine of them involving HGVs.
London's transport commissioner Sir Peter Hendy said: "London has long led the way in working with the freight industry to drive up standards, especially in terms of greater road safety, better driver training and reduced vehicle emissions.
"TfL will work with the London boroughs to deliver this proposed Safer Lorry Scheme and further demonstrate our commitment to safer roads for all."
Penny Knight, head of the cycling team at law firm Leigh Day, which represents British Cycling members, said: "These measures will be welcomed. However, it is just a shame that they did not come soon enough to save those cyclists and pedestrians who have died under the wheels of lorries in London.
"We still believe that more needs to be done around the infrastructure of the City to ensure cyclists and pedestrians are safe. No one measure will solve this problem.
"It will be a wholesale re-imagining of what travel should look like in London which will lead to no more innocent lives being lost on our roads."