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An on-board emission measurement system (PEMS), the Horiba OBS 1300, was installed in Euro 1-4 SI cars of the same model to investigate the impact of vehicle technology on exhaust emissions, under urban driving conditions with a fully warmed-up catalyst. A typical urban driving loop cycle was used with no traffic loading so that driver behavior without the influence of other traffic could be investigated. The results showed that under real world driving conditions the NOx emissions exceeded the legislated values and only at cruise was the NOx emissions below the legislated value. The higher NOx emissions during real-world driving have implications for higher urban Ozone formation. With the exception of the old EURO1 vehicle, HC and CO emissions were under control for all the vehicles, as these are dominated by cold start issues, which were not included in this investigation.