Through the analysis of vehicle ACWS principle on the basis of single-line laser radar, the AACS performance of hazardous material transportation vehicle was tested and evaluated in accordance with EU(Euro- pean Union)standard ECE R131 and national standard GB/T 33577-2017. The test results show that AACS can effectively remind the driver or take automatic emergency braking measures at the same time to avoid the for- ward or rear-end collision when the hazardous material transportation vehicle has the risk of the forward or rear- end collision. Meanwhile, the existing problems in AACS based on single-line LiDAR were pointed out and rel- evant feasible suggestions were proposed.