The present invention is composed of a catalytic particulate removal filter (DPF) and a cooled exhaust gas recirculation unit (Cooled EGR) for simultaneous reduction of particulate matter (PM) and nitrogen oxides emitted from existing vehicles equipped with diesel engines. In the system, a control map for a control unit (ECU) for control is generated by applying a self-learning adaptive control method to itself and relates to a learning adaptation control for realizing optimal control. Specifically, the present invention is applied to stably achieve the target of reducing nitrogen oxides corresponding to exhaust gas regulations, and accurately monitors the accumulation of soot and non-combustible ash in DPF, and sends a monitoring and warning signal. The control method and retrofit system that can control the exhaust gas temperature of the engine by adjusting the amount of EGR and the degree of cooling of the EGR gas so as to perform the regeneration stably.
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