As it took part in a government summit on diesel, Daimler followed rivals such as BMW by announcing it had expanded its "previously introduced initiative for improved air quality".

Earlier this month, the automaker said it would spend EUR220m updating 3m Mercedes-Benz diesel vehicles in Europe in what it termed "voluntary service actions". It also plans to speed up the launch of a new line of diesel engines for its passenger models. That was already an expansion of a current programme to reduce NOx emissions in one engine version in some model lines – compact cars and the V-Class [minivan/MPV].

"We focus on improving the diesel instead of banning it. In the medium term optimising the diesel engine is one of the most effective levers for achieving climate goals through less CO2 in road traffic," said Daimler chairman Dieter Zetsche in the latest statement, largely echoing his rival, BMW's Harald Kruger.

"That's why we have once again expanded our package of measures. We want to improve air quality quickly and effectively – without adversely affecting our customers through driving bans." The package of measures includes four key points:

On top of already announce software updates for 3m vehicles in Europe, Daimler, in a move also similar to BMW, is offering owners of Euro4 vehicles, depending on model, a "four-digit environmental bonus".

The automaker, in line with market share, also will participate in the mobility fund launched by government and industry. This is primarily intended to finance measures that contribute to improved traffic flow in inner cities.

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Daimler said it was also speeding introduction of vehicles that meet the more stringent emission limits under RDE regulations.

"The fact that the diesel engine can also meet future strict EU emission standards has already been proven by Mercedes-Benz with a completely new engine family, it said.

The I4 OM654 launched in the E-Class in 2016 is being quickly spread across the whole model line.

"I trust that [the government] meeting will serve as a signal to make the debate about the diesel engine, which has gotten off track in some areas, objective again," said Zetsche. "I understand that many think the automotive industry is the problem. We will now show that we are part of the solution."