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The exhaust emissions of two Euro 6 diesel cars with different emissions control systems have been evaluated both on the road and over various chassis dynamometer test cycles. European emissions limits are currently set using the New European Driving Cycle (NEDC), but the European Commission is preparing additional test procedures to ensure that emissions are well controlled both in real-world use and over the legislative test cycle. The main focus of this work on ‘Real Driving Emissions’ (RDE) is on measurements using Portable Emissions Measurement Systems (PEMS) in truly representative, on-road, driving. A key focus of the test programme, undertaken as a collaboration between AECC (the Association for Emissions Control by Catalyst) and Ricardo UK, was therefore the use of PEMS systems to measure on-road emissions of both gaseous pollutants and particulate matter. This included measurement of particle number emissions with a new candidate system for this type of measurement.