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An on-board measurement system that simultaneously measures road traffic, vehicle running conditions and exhaust emissions was installed in a diesel freight vehicle with two tons payload. Actual NOx mass emissions were compared with that measured in a typical test mode for urban cities on a chassis dynamometer. The frequency of vehicle accelerations in actual urban cities was found to exceed that of a typical test mode for urban cities on a chassis dynamometer, which resulted in increased NOx from actual running conditions compared with the typical test mode for urban cities. The dynamics of NOx emissions at an actual roadside was also analyzed. It was observed that NOx emission based on distance with an actual city route test was about two times higher than that of a free way route and a typical test mode for urban cities. The reason for high NOx with the city route was explained by the higher frequency of lower gears at which higher NOx is emitted.