Increasingly stringent regulations regarding vehicle emissions have contributed to the diversification of vehicle technologies, resulting in the increasing complexity of typical vehicles that make up a fleet. In order to investigate the real gas emissions of different typical vehicles, tests were conducted using a portable emission measurement system (PEMS) in Beijing and emission studies were conducted on eight light-duty passenger vehicles (LDPVs, including light-duty gasoline passenger vehicles and hybrid electric vehicles), eight heavy-duty passenger vehicles (HDPVs), and four light-duty trucks (LDTs). The results show that the emissions of relevant pollutants from LDPV meet the emission standard limits. The emission factors of CO2, CO, NOX, and HC of China IV and China V hybrid electric vehicles (HEVs) are much smaller than the emission standard limits and the emission factors of other vehicles, which have better emission reduction effects. Among LDPV, heavy-duty passenger vehicles (HDPVs), and LDT, the emissions of HDPV and LDT are extremely high. Emission characteristics vary on different types of roads, with the highest emission factors generally occurring on secondary roads. The micro-trip method was used to explore the influence of speed on emission factors. HEV are less sensitive to speed changes and can still maintain a low emission level at low speeds. The average speed and emission factors of HDPV in micro-trip has a strong correlation.