Abstract: A vehicle detection and classification sensor provides accurate 3D profiling and classification of highway vehicles for speeds up to 100 mph. A scanning time-of-flight laser rangefinder is used to measure the distance to the highway from a fixed point above the road surface and then measure the distance to the surfaces of any vehicle that is viewed by the sensor. The beam is pulsed at a high repetition rate for determining vehicle speeds with a high accuracy and uses the calculated speed and consecutive range measurements as the vehicle moves past the sensor to develop a three-dimensional profile of the vehicle. An algorithm is applied to the three-dimensional profile for providing a vehicle-classification. A laser is also used to count the number of axles associated with the vehicle.