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In this study the performance of a monofuel compressed natural gas articulated truck was investigated under real-world conditions. To analyze the CNG vehicle due to fuel consumption and exhaust emissions a representative road-test route was conducted, including sections with significantly different driving conditions. Moreover, driving tests on freeway under higher load were carried out. As experimental equipment, a new ultra compact on-board system measured the in-car exhaust mass emissions in real time. Every second, a full dataset of CO₂, CO, HC and NOx emission rates was provided. The real-world emission measurements are based on a modal analysis of the emission concentrations in the tailpipe of the vehicle. The exhaust gas mass flow is calculated from the air mass flow and the gas components with a real-time reaction model. In combination with the vehicle speed, the emission rates in g/s are then calculated in gram per kilometer.