Automakers beat U.S. fuel-economy standards for the 2015 model year for the fourth year in a row, reaching an average of 29.4 miles per gallon for passenger cars, which marked an all-time high, according to an annual report from the U.S. Environmental Protection Agency.

All the major automakers met the standards and four — Fiat Chrysler Automobiles (FCA), Kia, Mercedes-Benz, and Volkswagen — used fuel-economy credits from previous model years to meet their targets for light-duty vehicles.

Mazda ranked highest with an adjusted combined fuel economy of 29.6 mpg followed by Honda (28.9 mpg), Subaru (28.4 mpg), and Nissan (28.3 mpg). The Detroit automakers came in toward the bottom of the list, including Ford (23 mpg), General Motors (22.3 mpg), and FCA (21.8 mpg).

Automakers have exceeded Corporate Average Fuel Economy (CAFE) standards since the 2012 model year. For the 2015 model year, the industry beat the target by 2.5% after beating it by 2.5% for the 2014 model year.

Read the full report here.