To provide a corresponding preparation and foundation for the implementation and testing of China 6, as well as provide a strong reference for the formulation of China automotive test cycle (CATC) in the future, portable emission measurement system (PEMS) was applied to carry out CO and NO_x emissions test on conventional roads for a light-duty gasoline vehicle (Toyota Levin) and a heavy-duty diesel vehicle (KING LONG bus) in Nanjing. The results showed that the CO emission rate of the Toyota car was mainly determined by the speed. As the vehicle speed increased, the CO emission rate increased rapidly while it was below 0.035 g/s. The CO emission rate of KING LONG bus accelerated with the increase of the vehicle speed at the lower speed and began to decrease when the speed reached 60 km/h. In terms of NO_x emission rate, as the vehicle speed increased, the NO_x emission rates of both vehicles increased. The CO and NO_x emission factors of the two models showed similar patterns, both of which decreased significantly as the vehicle speed increased. Compared with the corresponding emission limits, the CO emission of both vehicles was higher, especially for light vehicle, and it was more than 3 times the limit. The NO_x emission of both vehicles met the corresponding emission standards. The CO and NO_x emission rates of light vehicles were positively correlated with specific power of vehicle (VSP). When VSP was less than 16, the two pollutants emission rate variation with VSP of heavy vehicle showed the same trend, while it was different when VSP was more than 16.