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NOx emissions from diesel passenger vehicles affect the atmospheric environment. It is difficult to evaluate the NOx emissions influenced by environmental conditions such as humidity and temperature, traffic conditions, driving patterns, etc. In the authors’ previous study, real-driving experiments were performed on city and highway routes using a diesel passenger car with only an exhaust gas recirculation system. A statistical prediction model of NOx emissions was considered for simple estimations in the real world using instantaneous vehicle data measured by the portable emissions measurement system and global positioning system. The prediction model consisted of explanatory variables, such as velocity, acceleration, road gradient, and position of transmission gear. Using the explanatory variables, NOx emissions on the city and highway routes was well predicted using a diesel vehicle without NOx reduction devices.