SAN FRANCISCO — Ford is bringing back the Bronco and the Ranger.

The Bronco sport utility was discontinued 20 years ago. It’s best known as the vehicle O.J. Simpson drove in an infamous 1994 police chase after he failed to appear for arrest in connection with the slayings of his ex-wife and her friend.

Ford stopped making the Ranger midsize pickup in North America in 2011, although it’s still sold in other parts of the world. Their return is motivated by increasing demand for SUVs and trucks.

The success of the similar-sized Colorado pickup from Chevy and the Canyon from GMC prompted a reassessment at Ford.

The Bronco and Ranger are to be manufactured at Ford’s Michigan Assembly Plant in Wayne. The Ranger is to go on the market in 2019, the Bronco in 2020.

Ford also said it will update its F-150 pickup for 2019, adding driver assist technology including a pre-collision warning system.