No way is the air out cleaner than air in on a car. Lets do a basic stoichiometric analysis, an idealised chemical analysis of the combustion process:
Air/Fuel Mixture in = CxHy + z(O2 + 3.76N2)
This consists of a hydrocarbon, your idealised fuel, but in reality should also include detergents, aromatics, and lots of other things, mixing with air, again idealised as Oxygen and Nitrogen.
Exhaust Gas out = aCO + bCO2 + cH2 + dH20 + eO2 + fN2 + gNO2 + hHiCj
where a to j are multiplies to balance X, Y and Z in the first equation.
So you get (still idealised remember) carbon monoxide, carbon dioxide, hydrogen, water, oxygen, nitrogen, nitrogen oxide and unburnt hydrocarbons. With a bit more work you can show that exhaust gas temperatures cause further reactions, which often result in NOx, and these are much worse than plan NO2.
Now, a three way catalyst will be, at most, 85% efficient when running at lambda. Combine that with a NOx trap, and an SCR Urea* catalyst (say 50% efficient over time) and you have a system that may be upto 90% efficient at reducing emissions at optimum conditions (i.e. not full throttle when the rate of conversion is low, and not at low temperatures (e.g. starting) when rich mixtures, incomplete combustion, a cold catalyst and a host of other factors play a bit role), but 90% efficient still means that a car will pump out a lot of nasty stuff over an 'average' journey.
Now multiply it by tens of millions for each car and each mile completed, and you end up with a problem. Diesel is no better really - it has lower emissions of CO and CO2 (generally), so gets taxed less in the UK (iirc), but these still pump out NOx, uHC's, and with the added bonus of carcinagenic particulates. Current diesel catalyst and particulate traps help, but by no means reduce these nasty things.
Anyone who says their car is environmentally friendly is talking out of their anus.
*These Urea based catalysts aren't popular. Mainly because it involved urine in the conversion procress. It's usually goats urine, but human urine would be fine. You have to keep a little tank filled up. Imagine filling the car up with petrol and then taking a leak in another hole on the car to make it cleaner. Very odd, and off putting for the public.
And electric cars are worse for the environment than any conventional car (imo).