In the past, cars were developed mainly for performance and the number have been increased but emissions have a large overall environmental impact and it is difficult to achieve emission reduction without leaving the hydrocarbon fuel. Various technologies are being developed to meet EURO-VI emission regulations to reduce nitrogen oxides. Typical technologies are LNT and SCR, and specially in SCR, the number of elements which did not respond in the chemical reaction was exposed to the atmosphere and may worsen the fine dust (PM). Therefore, optimal design of urea injection systems is needed by predicting the spray state, evaporation state, etc. This study aims to research urea injection system to reduce nitrogen oxides. It was intended to determine the reduction characteristics of nitrogen oxides by measuring their reduction effect and temperature time by time by applying the SCR in order to meet Euro-VI emission regulation. The experiment was conducted by applying feedforward method as urea injection strategy and the urea was sprayed at a ratio of 1: 1 relative to the nitrogen oxide.