In order to solve the problems of autonomous-rail rapid tram parameter measurement limited by the body length, measurement accuracy and efficiency, a parameter measurement method has been developed through a stereo vision system based on four-view vision. A related angle’s visual measurement model was established by defining car body plane, wheel rotation angle, articulated disc angle and its zero degree based on space vector. High-precision algorithm of cooperative identification and optimization was studied to realize precise angle measurement. An autonomous-rail rapid tram parameter measurement method based on C/S was developed to realize fast measurement. In order to verify the feasibility of the method, a three-section autonomous-rail rapid tram was taken as an example to measure the angles. The results show that the method is fast and effective. The measurement accuracies of wheel steering angle and hinge steering angle are better than ±0.1ånd ±0.05°, respectively. Our method provides a detection method with a wide view, high efficiency and high precision for the parameter measurement of autonomous-rail rapid trams.