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High-precision, portable, and multi-dimensional driving environment data of vehicles in transit and their surroundings play a crucial role in the field of L3 and above autonomous vehicle scenario library testing, bad driving behavior spectrum construction, and real-time traffic control in transit. The data acquisition system composed of a single sensor is greatly limited in accuracy and dimension, resulting in low reliability. In order to realize the collaborative integration of multiple types of data sensors, a multi-module and road environment data and driving behavior synchronous acquisition system including lidar, vehicle motion measurement and combined positioning, vehicle pedal and steering wheel displacement sensor and Rayleigh integrated machine was designed and developed. It supports the parallel processing of multiple traffic data collection tasks, integrates the real driving behavior of users, and designs a data real vehicle collection platform for a certain IVECO model based on this system. The system is composed of two subsystems of upper computer and lower computer, integrating multi-module data acquisition, storage, transmission and calibration functions, and completing time synchronization processing for each module, suitable for “tourist chartered buses, Liner buses and dangerous goods transport vehicles” scenario, and designing an easy-to-operate upper computer user interface, real-time visualization of multi-module data, intuitive view of the change law of data in each period, with high application value.