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Hydrogen engines are required to provide high thermal efficiency and low nitrogen oxide (NOx) emissions. There are many possible combinations of injection pressure, injection timing, ignition timing, lambda and EGR rate that can be used in a direct-injection system for achieving such performance. In this study, several different combinations of injection and ignition timings were classified as possible combustion regimes, and experiments were conducted to make clear the differences in combustion conditions attributable to these timings. Lambda and the EGR rate were also evaluated for achieving the desired performance, and indicated thermal efficiency of over 45% was obtained at IMEP of 0.95 MPa. It was found that a hydrogen engine with a high-pressure direct-injection system has a high potential for improving thermal efficiency and reducing NOx emissions.