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Although engine emissions per vehicle have been reduced for twenty years with technical developments in the fields of engine, after-treatment technologies and fuels the urban air pollution problem still exists in many cities around the world. Forthcoming emission regulations will require further development of new complex technologies to reach low emissions. On-board driving assessment of such technologies offers significant advantages in the development phase of novel emission reduction. In this paper we present the design, development and commissioning of a mobile laboratory able to monitor on-board along the exhaust line gaseous and particulate pollutants as well as measure these pollutants in the ambient environment around the vehicle.