Method for determining the angles and the characteristic parameters of the alignment of a vehicle situated at a measurement location comprising the following steps: - equipping each of the wheels of the vehicle with a flat target; - determining the relationship between the position of the target and the wheel; - arranging a first pair of television cameras making a stereo system in a position such as to see at least the target associated with a wheel, wherein a second pair of television cameras is also arranged; - creating a spatial reference system to which a three-dimensional image of the target created by said at least one pair of television cameras refers; - processing the three-dimensional image of the target collected by the two television cameras and determining the angular orientation and the position of the target in the spatial reference system; - using said position and angular orientation to determine the alignment of the wheel relative to the spatial reference system, characterized in that, for the creating step, use is made of an auxiliary target arranged in different positions in different steps, wherein the auxiliary target is visible simultaneously by at least one of the television cameras of the first pair of television cameras, and by at least one of the television cameras of the second pair of television cameras, wherein the spatial reference system is defined i) by placing the auxiliary target (5x, 5y, 5z) in a succession of positions, at successive times, in each of which it is visible simultaneously from at least one of the television cameras of a first pair of television cameras, and from at least one of the television cameras of a second pair of television cameras, and in repeating the operation in different positions of the auxiliary target (5x, 5y, 5z) so that it is visible from one of the television cameras used previously and from a television camera of a further pair of television cameras until at least one television camera of each pair of television cameras has been used; and ii) by processing the stereo images obtained from the pairs of television cameras so as to define the spatial reference system common to all of the television cameras, wherein a pair of television cameras for each wheel of the vehicle is provided. - equipping each of the wheels of the vehicle with a flat target; - determining the relationship between the position of the target and the wheel; - arranging a first pair of television cameras making a stereo system in a position such as to see at least the target associated with a wheel, wherein a second pair of television cameras is also arranged; - creating a spatial reference system to which a three-dimensional image of the target created by said at least one pair of television cameras refers; - processing the three-dimensional image of the target collected by the two television cameras and determining the angular orientation and the position of the target in the spatial reference system; - using said position and angular orientation to determine the alignment of the wheel relative to the spatial reference system, i) by placing the auxiliary target (5x, 5y, 5z) in a succession of positions, at successive times, in each of which it is visible simultaneously from at least one of the television cameras of a first pair of television cameras, and from at least one of the television cameras of a second pair of television cameras, and in repeating the operation in different positions of the auxiliary target (5x, 5y, 5z) so that it is visible from one of the television cameras used previously and from a television camera of a further pair of television cameras until at least one television camera of each pair of television cameras has been used; and ii) by processing the stereo images obtained from the pairs of television cameras so as to define the spatial reference system common to all of the television cameras,