If you are referring to death as in acute carbon monoxide poisoning from inhaling exhaust with the vehicle in a confined space or an exhaust leak in a closed vehicle, sure. If you are inquiring about a chronic long term exposure to diesel exhaust, that might make you sick with a respiratory disease before it does you in. Diesel exhaust is steadily getting cleaned up with the anti-pollution technologies mandated by the EPA, but it is probably still 'dirtier' in some respects when compared to gas fueled or gasoline fueled internal combustion engines.