To reach the Euro-6 regulations of PM and $NO_x$ for light-duty diesel vehicles, it will be necessary to apply the CDPF and the de-$NO_x$ catalyst. The described system consists of a catalytic configuration, where the CDPF is placed downstream of the diesel engine and followed by a urea injection unit and a urea-SCR catalyst. One of the advantages of this system configuration is that, in this way, the SCR catalyst is protected from PM, and both white PM and deposits become reduced. In the urea-SCR system, the injection control of reductant is the most important thing in order to have good performance of $NO_x$ reduction. The ideal ratio of $NH_3$ molecules to $NO_x$ molecules is 1:1 based on $NH_3$ consumption and having $NH_3$ available for reaction of all of the exhaust $NO_x$. However, under the too low and too high temperature condition, the $NO_x$ reduction efficiency become slower, due to temperature window of SCR catalyst. And space velocity also affects to $NO_x$ conversion efficiency. In this paper, rig-tests were performed to evaluate the effects of $NO_x$ and $NH_3$ concentrations, gas temperature and space velocity on the $NO_x$ conversion efficiency of the urea-SCR system. And vehicle test was performed to verify control strategy of reductatnt injection. The developed control strategy of reductant injection was improved over all $NO_x$ reduction efficiency and $NH_3$ consumption in urea-SCR system. Results of this paper contribute to develop urea-SCR system for light-duty vehicles to meet Euro-5 emission regulations.