As a part of the global efforts to reduce CO2 emission, studies are in progress to derive regulation measures for CO2 emission from heavy-duty vehicles. Thus, identification of emission characteristics of CO2 for heavy-duty vehicle is required and test driving cycle for this would be necessary.Before developing a test driving cycle to identify the emission characteristics of CO2, selection of test subject vehicles and actual road test was carried out. Through this, road drive characteristics per diverse vehicle type and emission levels of CO2 were identified. Correlations between the currently used cycles of each country and the actual road were analyzed and the cycle most similar to the actual road situations was selected among various countries' cycles to verify whether its easy use was possible for the actual tests.The test driving cycle selected after comparison with actual road situations was modified so as to enable actual tests for all heavy-duty vehicles. Korean-World Harmonized Vehicle Cycle (K-WHVC) as the driving cycle subsequently modified was used to conduct chassis dynamometer tests, through which conforming possibility of K-WHVC and emission levels of CO2 were identified. Also, for the driving cycle modified so as to properly reflect actual road drive conditions of Korea, weighted factors for each section were selected per vehicle type, and the test driving cycle was developed or identification of emission characteristics of CO2 from heavy-duty vehicles.