Allowed vehicle emissions of exhaust gases are regulated by Euro emissions, but emissions from brake and tire wear are still under research, and their limits have yet to be clearly defined. To determine emissions of harmful substances, it is necessary to study the composition of individual components, define the testing procedure, and control the conditions under which testing takes place to obtain as accurate results as possible. Emissions of harmful substances are conducted, both, under real driving conditions and in laboratory settings. The topic of this paper is to analyze and study the structure of vehicle brakes and tires and then report on their emissions. It is important to mention the size at which these harmful particles appear, their distribution, emission factors, and their impact on the health of living organisms. Additionally, a comparison will be made between internal combustion engine vehicles and electric vehicles. Although electric vehicles are considered emission-free because they have no exhaust emissions, this paper will show that this is not entirely accurate. The paper also presents some test setups that have been used in various studies to determine brake and tire emissions, either in laboratory conditions or under real-world driving conditions. At the end of the paper, a proposal or concept for a test system for collecting and measuring harmful particles will be presented.