I thought Diesel always used injection, but was was first? Diesel or petrol?
Nicholas Otto (of Germany) was the inventor of the gasoline (petrol) engine. His four-stroke prototype first ran in 1876, and he mounted it on a bicycle, which became the Otto-Cycle. He partnered with Eugen Langen to manufacture the Otto-Mobile, which later became "Automobile" in the English language. The company was N.A. Otto & Cie, which is now DEUTZ AG, K?ln, and it's still in business!
Rudolph Diesel (of France), a prominent thermal engineer, proposed the idea that compression could cause combustion and built a model that first operated on August 10, 1893, and it was patented in 1894. It was almost killed when a later prototype exploded. He was also awared the first patent for the "internal combustion engine". It was a phenomenal engine in its day, because they proved an efficiency of 25% which was twice the efficiency of any gasoline (petrol) engine of the time.
The very first Diesel engine prototype didn't have injectors like they have nowdays-- when the piston pulled back, it moved past a hole in the side of the cylinder which allowed oil to enter the cylinder. It worked, but it was very smokey. It wasn't until 1927 when Bosche invented the injector pump, and diesel engines became even more efficient than before.
Of course, it was Henry Ford that invented the concept of "mass production" in 1913 which made cars (and everything else) cheap and available to everyone. The rest is history.
This is all from memory, and I'm not 100% sure this is all correct, but it should be fairly close.