In 2015 auto titan Volkswagen admitted installing software to rig emissions levels in millions of vehicles worldwide, setting off one of Germany's biggest post-war industrial scandals.
Continental, which makes tyres and supplies components and software for carmakers, became embroiled in the controversy as it is a major supplier to 10-brand VW.
The former Continental CEO was identified only as Dr N. by prosecutors, but German media reported he is Karl-Thomas Neumann who headed Continental in 2008 and 2009.
He was later CEO of the Opel brand from 2013 to 2017, they said. The other ex-executives were not identified.
All four were accused of "aiding and abetting fraud" in more than three million cases, according to a statement from prosecutors in the city of Hanover.
Their cases are related to court proceedings for fraud against former VW executives, the prosecutors said.
Former Volkswagen CEO Martin Winterkorn went on trial in September for his role in the saga, although proceedings were suspended the following month due to his poor health.
Prosecutors allege the ex-managers from Continental were involved in developing an engine type in coordination with VW executives that was at the centre of the scandal.
Continental supplied Volkswagen with engine control units, into which software -- programmed according to VW's specifications -- was integrated and functioned as a so-called "defeat device", prosecutors said.
The defeat devices made cars appear less polluting in lab tests than they were on the road.
In April Continental agreed to pay a 100-million-euro ($105-million) fine to settle legal proceedings against it related to the scandal, although this did not halt cases against several former employees.
The dieselgate fraud had already cost VW more than 30 billion euros in fines, legal costs and compensation to car owners, mainly in the United States.
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