Audi is recalling around 24,000 A7 and A8 models because NOx emissions are too high.

"Within the context of a proactive, comprehensive investigation of transmission software in various model versions, Audi has detected anomalies in the NOx emissions in certain driving conditions of approximately 24,000 cars of the A7 and A8 model series certified according to the EU5 emission standard. Their NOx emissions exceed the limit by a factor of up to two but will be corrected by new transmission software," the automaker said in a statement.

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Audi added it had been "systematically investigating the emissions of a large number of engine-transmission combinations in certain driving conditions".

"The latest analyses of A7 and A8 automobiles of model years 2010 through 2013 with V6 and V8 engines certified according to the EU5 emission standard have revealed that in certain situations, NOx emissions are between 20% and 100% above the limit.

"The reason is that in some situations, engine speed is unfavourably influenced by the transmission software, which can have a negative impact on the engine's emissions.

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"Audi has agreed with Germany's Federal Motor Transport Authority that it will actively approach the relevant customers and recall the affected cars."

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The automaker said 14,000 of the 24,000 cars are registered in Germany and the recall is likely to start in July 2017.

"As only a software update will be installed, the time required for the work on the cars will be about 30 minutes."

"Audi will continue to cooperate fully with the authorities and the Federal Motor Transport Authority. It apologises to its customers for the inconvenience and is doing everything to ensure that the anomalies it has discovered will be corrected as soon as possible."