In　the　research　of　intelligent　vehicle,　multi-layer　laser　radar　can　provide　important　information　for　perceptual　system　of　the　intelligent　vehicle.　The　important　information　come　from　the　system　of　data　acquisition　and　processing.　This　paper　describes　the　multi-layer　laser　radar.　A　data　acquisition　and　display　software　is　developed　by　using　multi-threading　technology　in　visual　C++　2008　and　image　technology　in　OpenCV,　In　the　data　processing,　adopting　the　median　filtering　algorithm　to　preprocess　data,　using　the　algorithm　based-on　weighted　distance　threshold　to　cluster　and　making　use　of　Kalman　filtering　algorithm　to　track　the　target.　Experiment　results　show　the　software　is　reliable　and　practical,　the　algorithm　is　appropriate　and　effective,　which　can　provide　reliable　information　of　obstacle　for　intelligent　vehicle.　©　2013　TCCT,　CAA.