The invention discloses a method for measuring distance and height by a vehicle-mounted monocular camera based on a vertical type target, and belongs to the technical field of intelligent vehicle environmental perception. Through the operations of template matching, candidate point clustering and screening and accurate positioning on a region of interest of a vertical type target image, the method realizes the detection and the positioning of a sub pixel level angular point, combines a projective geometry model, and creates a mapping relation between an image ordinate and an actual imaging angle, thereby realizing the measurement of the distance and the height. The inner and outer parameters of the camera are not needed to be calibrated, a calibrating board or a reference object is not needed to be placed repeatedly, the possibility of the occurrence of error is reduced, and not only are the operation steps reduced, but also the measuring accuracy is improved; compared with the conventional corner detection, the target point of the target can be detected more accurately, so that the calculated amount of the follow-up clustering and screening is reduced, the height measure of the monocular camera is realized on the basis of calculating the actual imaging angle and distance, and the cost is greatly reduced.