The Ultra Low Emission Zone (ULEZ) is soon to be expanded to cover more parts of London from next week.
It will mean drivers with a non-compliant vehicle must pay a daily charge when passing through parts of the capital.
Now motorists who violate the rules of the ULEZ may initially receive warnings instead of fines.
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Transport for London (TfL) revealed it has the "discretion" to issue warning letters in place of penalty charge notices (PCNs).
The AA claimed it is "essential" that drivers are not fined "until the system beds in" across the new ULEZ areas.
From August 29, the ULEZ will expand from the North and South Circular roads to the whole of Greater London.
Drivers operating vehicles that fail to meet minimum emissions standards within the zone must pay a daily fee of £12.50.
Non-compliance can result in a hefty fine of £180, which can be halved to £90 if paid within a fortnight.
TfL sent letters about the expansion to owners of non-compliant vehicles which have been spotted by cameras in the new area.
In a statement, it said: "TfL reserves the right to use discretion to issue a warning notice instead of a penalty charge notice.
"However, we would advise anyone driving a non-compliant vehicle in the zone to pay the charge to avoid the risk of being fined."
Motorists can pay the ULEZ charge in numerous ways, from online payments to mobile apps.
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Alternatively, Brits could sort out the fee by subscribing to an automatic payment system.
AA president Edmund King said: "It is essential that TfL sends out warning letters to drivers not complying with the ULEZ until the system beds in.
"Drivers need fair warning of when they are about to enter the ULEZ or when they are on a road that will take them into the zone if they stay on it."
Edmund also warned of a potential backlash if TfL fails to send out warnings.
"If they turn down appeals to have fines cancelled, huge numbers will take their complaints to the traffic penalties tribunal," he concluded.
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