Question: The Toyota Vitz is a line of three- and five-door hatchback subcompact cars produced since 1999 by the Japanese automobile manufacturer Toyota, Now in its third generation, the name "Toyota Vitz" has been used consistently in Japan, with most international markets receiving the same vehicle under the Toyota Yaris name, The Toyota Yaris is a subcompact car produced by Toyota since which year, replacing the Starlet?
Sentence (from "Toyota Yaris WRC"): The car is based on the Toyota Yaris, and will be the first car Toyota have competed with in the WRC since withdrawing from the championship at the end of the 1999 season to focus on their Le Mans Prototype and Formula One programmes.
Relevant evidence: No