Controlling nitrogen oxides (NOx) emissions from diesel passenger cars during real-world driving is one of the major technical challenges facing diesel auto manufacturers. Three main technologies are available for this purpose: exhaust gas recirculation (EGR), lean-burn NOx traps (LNT), and selective catalytic reduction (SCR). Seventy-three Euro 6 diesel passenger cars (8 EGR only, 40 LNT, and 25 SCR) were tested on a chassis dynamometer over both the European type-approval cycle (NEDC, cold engine start) and the more realistic Worldwide harmonized light-duty test cycle (WLTC version 2.0, hot start) between 2012 and 2015. Most vehicles met the legislative limit of 0.08 g/km of NOx over NEDC (average emission factors by technology: EGR-only 0.07 g/km, LNT 0.04 g/km, and SCR 0.05 g/km), but the average emission factors rose dramatically over WLTC (EGR-only 0.17 g/km, LNT 0.21 g/km, and SCR 0.13 g/km). Five LNT-equipped vehicles exhibited very poor performance over the WLTC, emitting 7-15 times the regulated limit. These results illustrate how diesel NOx emissions are not properly controlled under the current, NEDC-based homologation framework. The upcoming real-driving emissions (RDE) regulation, which mandates an additional on-road emissions test for EU type approvals, could be a step in the right direction to address this problem.