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I think that the fact that hydrogen cars are always "10 years away" is not really due to any limitation in technology; I'd say there are two, very simple answers.
The first one is that hydrogen is very volatile and inflammable, if not explosive. If we're talking about cars that use it as fuel (as opposed to hydrogen fuel cells), then, a car that gets into an accident could turn into a bomb, which is a danger not only to the driver and passengers of that car, but to everyone around as well.
The second is, unfortunately, the heavy lobbying of the fossil fuel industry, that blocks or, at least, slows down most advances in alternative power sources for personal cars.
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