The Environmental Protection Agency on Friday unveiled draft rules on auto emissions and low-sulfur gasoline designed to curb smog-forming, soot and toxic pollution, drawing attacks from Republicans who allege the mandate will increase consumer costs.

The agency estimates that by 2030 the rules will annually avoid up to 2,400 premature deaths, 23,000 cases of respiratory ailments in children and other gains, totaling between $8 billion and $23 billion in yearly health-related benefits.

Acting EPA Administrator Bob Perciasepe cast the rules, which have faced considerable delays, as a boost to the auto industry and public health that won’t hurt consumers. The agency estimates the rule will increase pump prices by less than a penny per gallon.