As the concerns regarding global worming were increased, the pressure of greenhouse gas(GHG) emission reduction on mobile source was also increased. Carbon dioxides contribute over 90% of total GHG emission and the mobile source occupies about 20% of this $CO_2$ emission. Therefore automotive exhaust is suspected to be one of the major reasons of the rapid increase in greenhouse effect gases in ambient air. In this study, in order to investigate $CO_2$ emission characteristics from gasoline passenger cars(PC), which is the most dominant vehicle type in Korea, 106 vehicles were tested on the chassis dynamometer. $CO_2$ emissions and fuel efficiency were measured. The emission characteristics by displacement, gross vehicle weight, vehicle speed and CVS-75/vehicle speed mode were discussed. Test modes were vehicle speed modes and CVS-75 mode that have been used to develop emission factors and to regulate for light-duty vehicle in Korea. It was found that $CO_2$ emissions showed higher large displacement, heavy gross vehicle weight, low vehicle speed and CVS-75 mode than small displacement, light gross vehicle weight, high vehicle speed and vehicle speed mode, respectively. From these results, correlation between $CO_2$ emission and fuel efficiency was also determined. The results of this study will contribute to domestic greenhouse gas emissions calculation and making the national policy for climate change.