Automotive exhaust is suspected to be one of the major reasons of the rapid increase in greenhouse effect gases in ambient air. As the concerns regarding global worming were increased, the pressure on mobile source greenhouse gas (GHG) emission were also increased. Carbon Dioxides contribute over 90% of total GHG emission and the mobile source occupies about 20% of this $CO_2$ emission. In this study, in order to investigate $CO_2$ emission characteristics from gasoline and LPG passenger cars (PC), which is the most dominant vehicle type in Korea, 53 vehicles were tested on the chassis dynamometer. $CO_2$ emissions and fuel consumption efficiency were measured. The emission characteristics by fuel type, model year, mileage, vehicle speed and transmission type were also discussed. Test modes used in this study were NIER 10 modes and CVS-75 mode, which have been used for developing emission factors and testing new vehicles respectively. The results of this study showed that the main factors which have significant influences on the $CO_2$ emissions are fuel type, transmission type, displacement of vehicle and mileage. The correlation between $CO_2$ emission and FE was also determined by comparing $CO_2$ emission and fuel consumption efficiency. The overall results of this study will greatly contribute to domestic greenhouse gas emissions calculation and designing national strategies for climate change.