On-road vehicle tests of nine heavy-duty diesel trucks were conducted using SEMTECH-D, an emissions measuring instrument provided by Sensors, Inc. The total length of roads for the tests was 186km. Data were obtained for 37,255 effective driving cycles, including 17,216 on arterial roads, 15,444 on residential roads, and 4595 on highways. The impacts of speed and acceleration on fuel consumption and emissions were analyzed. Results show that trucks spend an average of 16.5% of the time in idling mode, 25.5% in acceleration mode, 27.9% in deceleration mode, and only 30.0% at cruise speed. The average emission factors of CO, total hydrocarbons (THC), and NO x for the selected vehicles are (4.96±2.90), (1.88±1.03) and (6.54±1.90)gkm−1, respectively. The vehicle emission rates vary significantly with factors like speed and acceleration. The test results reflect the actual traffic situation and the current emission status of diesel trucks in Shanghai. The measurements show that low-speed conditions with frequent acceleration and deceleration, particularly in congestion conditions, are the main factors that aggravate vehicle emissions and cause high emissions of CO and THC. Alleviating congestion would significantly improve vehicle fuel economy and reduce CO and THC emissions.