With increasing of GDP, the registration number of passenger cars has exceeded 20 million last year in Korea. Especially, the registration number of the diesel engine vehicles has been increasing. However, the WHO(World Health Organization) IARC (International Agency for Research on Cancer) has reported that diesel engine exhaust gas is an one of HAPs, which has carcinogenic for human, and they have designated it to Group 1. To solve this problem, exhaust gas from diesel engines has to be controlled. Thus, it has been controlling by European regulatory standard in Korea. On the other hand, in order to meet the enhanced emission regulations, all manufacturing company applied $NO_x$ control device to vehicles such as EGR (Exhaust Gas Recirculation), SCR (Selective Catalytic Reduction) and so on. However, these devices (EGR, SCR) were operated by difference reaction mechanism respectively, and the composition of exhaust gas would be differenced from that of them. In this study, it was conducted to evaluate variety characteristics on changing of exhaust gas composition by each $NO_x$ control device, and the heavy duty diesel trucks were chosen as experimental vehicles. From the result, it revealed that vehicles (with EGR) were discharged higher THC as 52.5% than that of others (with SCR). However, it did not followed that trend, in the case of CO; it was discharged as 57.2% lower than that of others (with SCR). In the future, these data would be used to apply to efficient $NO_x$ control device for meeting to EURO 6.