NOx and PM are important air pollutants as vehicle management policy aspect. Medium-duty truck is the main source of the pollutants although the vehicle market share is only 3.5%. National emission portion of NOx and PM form the mobile sourece are 14% and 16% respectively. In this study it was investigated that characteristics of air pollutants emission on medium duty truck equipped with EGR and SCR system. Vehicle's test reflected driving cycle on the chassis dynamometer, and applied test cycle was WHVC(World Harmonized Vehicle Cycle) mode. The test cycle include three segments, represent urban, rural and motorway driving. Based on the test results NOx, PM, HC were less emitted form SCR vehicle than EGR vehicle. And CO was less emitted form EGR vehicle than SCR vehicle due to CO oxidation reaction on DPF surface. And most air pollutants reduced as average vehicle speed increased. Pollutants were less emitted on motorway section than urban and rural sections. But highly NOx emission on motorway section was verified according to increased EGR ratio on fast vehicle speed. HC and CO additional emission was identified as 68%, 58% respectively during SCR vehicle`s cold engine start emission test. NOx additional emission was detected by 24% on SCR vehicle`s condition of engine cold start while not detected on vehicle equipped with EGR. SCR vehicle`s additional NOx emission was derived from low reaction temperature during engine cold start condition. medium-duty truck emission characteristics were investigated in this study and expected to used to improve air pollutants management policy of medium-duty truck equipped with SCR & EGR.