The contribution levels of emissions from the heavy-duty vehicles have been continuously increased. Among the exhaust emissions, NOx (nitric oxides) have a ratio of 73.2% and particle matters have a proportion of 61.8% in the heavy-duty vehicles. Also, natural gas vehicles have the 78.9% of total registered local buses in Korea. Therefore, the investigation on emission characteristics of heavy-duty vehicles using CNG and diesel fuel according to the various driving cycles was carried out in this study. In order to analyze the emission characteristics, the five kinds of buses by using CNG and diesel fuels with a after-treatment devices (DPF, p-DPF) was used and five test driving schedules were applied for analysis of emission characteristics in a chassis dynamometer. To analyze the exhaust emission, the exhaust emission and PM analyzers were used. From this study, it is revealed that diesel buses with after-treatment had reduced emission of CO, HC, PM but NOx. Also, NMHC emission of CNG bus have a higher level and NOx level was similar with diesel buses. In addition, emissions in NIER06 with slow average speed shows lowest levels compared to other test modes.