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A convoy led by Kent hauliers handed a petition demanding a 25p-a-litre rebate on fuel duty to Gordon Brown at Downing Street - and say the Government now has a week to respond.
Around 80 lorries from the county left the Farthing Corner service station on the M2 at Gillingham at around 7.30am Tuesday to protest against rocketing fuel prices that they say are "driving the industry to the wall".
They were joined in the capital by hundreds of other trucks from Wales and other parts of England.
The Kent protest organiser Peter Knight said he was "optimistic" the demonstration was successful. The hauliers plan to give the Government up to a week to issue a statement or there would be further protests at oil refineries and ports - which could lead to a return to the fuel crisis of 2000 and spark a run on petrol.
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kmfm's Rhona Pinkerton spoke to Peter Knight after the demonstration. To hear what he had to say, click on the audio link at the top of this page.
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Diesel prices have increased by around a third compared with this time last year - it now costs more than £1.20-per-litre - which UK lorry drivers claim makes them uncompetitive when compared to continental Europe.
Earlier, Mr Knight said: "We have a serious problem within the industry...People are losing their businesses, it's just not right . We need action now. Ignore us at your peril."
Not everyone is convinced the latest protest will make a difference. Truckers World spokesperson Barrie Tozer said: "I think we need to protest but I think unless everyone gets involved they won't be taken notice of.
"If we're going to protest on fuel it's got to be massive. It's not just the truckers, it's cars, it's train drivers, it's buses, it's the whole country."
The Freight Transport Association are supporting the action. Chief economist, Simon Chapman said: "The protests are entirely understandable. Hauliers are at their wits' end. They are seeing their costs rising day by day, week by week."
The FTA estimates that fuel will rise by another 4 pence per litre in the coming weeks as the most recent rises in world oil prices filter through into the selling price.