To explore the characteristics of distance and speed perception of drivers in a tunnel environment, this paper investigates the difference and accuracy of driver’s distance perception inside and outside the tunnel by field test method and analyzes the influence of driver’s age on distance perception. In addition, the impact on tunnel contour mark height and spacing on speed perception is also studied based on the field test. The results show that: (1) whether inside or outside the tunnel, the perceived distance from the driver is generally larger when the speed is between [55,75] km/h, while the perceived distance is generally smaller than the true value when the speed is between [75,85] km/h. (2) The accuracy of distance perception is directly proportional to the driver’s age. (3) The vehicle type has a certain impact on speed perception under the same tunnel contour mark height, and the recommended height is 0.6–1.2 m. (4) For different vehicles, tunnel contour mark spacing of 15 m is the most conducive to driving safety, and it is recommended to be 10–20 m. At last, based on the distance and speed perception characteristics of drivers in the tunnel, a series of safety facilities optimization suggestions are put forward to ensure driving safety.