The invention provides a vehicle-mounted impulse type laser radar system. The vehicle-mounted impulse type laser radar system comprises a laser transmitting circuit, three receiving circuits, three timing circuits and a processor. The laser transmitting circuit comprises a laser transmitter, a driving circuit of the laser transmitter, a spectroscope, a transmitting circuit photoelectric detector and an optical system. Each receiving circuit comprises an optical instrument, three converging lenses, three receiving circuit photoelectric detectors, and a signal conditioning circuit composed of two-stage amplifying circuits, filtering circuits and time discriminating circuits. The processor is electrically connected with the driving circuit and the three timing circuits and works out the distance between an obstacle in front of a vehicle and the vehicle and the direction of the obstacle according to the recorded laser flight time. According to the vehicle-mounted laser radar system of a three-path timing structure, within the range of 10 m in front of the vehicle, the distance between the obstacle in front of the target vehicle and the target vehicle can be accurately measured, and the direction of the obstacle in front of the target vehicle can be detected as well.