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It is necessary to clarify the influence on NOx emissions by driver's operation for analyzing of NOx pollution mechanism at roadside. Simple on-board measurement system for vehicle running condition and actual NOx emissions was developed to evaluate local NOx pollution caused by vehicles. The measurement system was installed in a freight vehicle whose payload is two tons, and actual driving test was conducted to evaluate the effectiveness of the system. The tests on chassis dynamometer including steady state and transient mode indicated enough accuracy to evaluate NOx emissions from a vehicle at local roadsides.