Recently, emission tests for heavy-duty vehicles have been conducted by heavy-duty engine dynamometer. But, it contains weaknesses that present inconveniences to install and uninstall engines and limitations to reflect on practical characteristics for vehicle driving. On the other hand, chassis dynamometer test is able to differentiate characteristics of real driving patterns due to the reason that vehicles can be examined by utilizing chassis dynamometer. This study aimed at comparing the characteristic of emitting regulatory substances of urban buses on Heavy-duty chassis dynamometer. The characteristic was analyzed based on vehicle speed by using both domestic and overseas developed heavy-duty vehicle test modes. As a result, this work attempted to investigate possibilities to take advantage of Heavy-duty vehicle test modes as a method to manage emissions from heavy-duty vehicles.