On-road emission measurements of gasoline- and diesel-fueled vehicles were conducted by a portable emission measurement system (PEMS) in Shanghai, China. Horiba OBS 2200 and TSI EEPS 3090 were employed to detect gaseous and ultrafine particle emissions during the tests. The driving-based emission factors of gaseous pollutants and particle mass and number were obtained on various road types. The average NOx emission factors of the diesel bus, diesel car, and gasoline car were 8.86, 0.68, and 0.17 g km−1, all of which were in excess of their emission limits. The particle number emission factors were 7.06 × 1014, 6.08 × 1014, and 1.57 × 1014 km−1, generally higher than the results for similar vehicle types reported in the previous studies. The size distributions of the particles emitted from the diesel vehicles were mainly concentrated in the accumulation mode, while those emitted from the gasoline car were mainly distributed in the nucleation mode. Both gaseous and particle emission rates exhibit significant correlations with the change in vehicle speed and power demand. The lowest emission rates for each vehicle type were produced during idling. The highest emission rates for each vehicle type were generally found in high-VSP bins. The particle number emission rates of the gasoline car show the strongest growth trend with increasing VSP and speed. The particle number emission for the gasoline car increased by 3 orders of magnitude from idling to the highest VSP and driving speed conditions. High engine power caused by aggressive driving or heavy loads is the main contributor to high emissions for these vehicles in real-world situations. •We measured gasoline- and diesel-fueled vehicles by a PEMS system.•The emission factors show strong relationship with real-world driving conditions.•Gasoline- and diesel-fueled vehicles show special size distributions.•Gasoline car emitted more nano-particles than diesel vehicles.•Particles show growth trends with the increase of VSP and speed in real-world.