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This paper analyzes the influence of actual driving conditions on gaseous pollutants and particulate emissions of heavy-duty diesel vehicles and evaluates the conversion efficiency of aftertreatment devices. A real driving emission (RDE) test involving urban, suburban, and highway conditions is carried out on a China VI heavy-duty diesel truck with aftertreatment devices, DOC, SCR, and DPF. The exhaust emissions are measured, and the results show that: the emission rates of CO, NO2, and PN increase with vehicle speed; NO2 accounts for 30%-50% of the total NOx emissions under most actual driving conditions; PN emissions are positively correlated with CO2 emissions. The average conversion efficiencies of the aftertreatment devices for NO2, NOx, PN, and CO are 84%, 93%, 99%, and 30%, respectively. SCR can reduce the GWP of NO effectively.