At present, the common 3D vehicle model reconstruction algorithm is real-time scanning and sampling through mechanical rotating lidar, and the number of points obtained is limited. Due to the unique scanning characteristics of hybrid solid-state lidar, the real-time scanning and sampling vehicle point cloud will have problems such as point trace clutter and vehicle model deformation. In this paper, a dynamic vehicle 3D model reconstruction algorithm for hybrid solid-state lidar is proposed. Based on the conventional 3D vehicle model reconstruction algorithm, the target vehicle is tracked, the vehicle is compensated, all the laser points of the vehicle passing through the detection area are traced back to the 3D contour of the vehicle, and the vehicle model is reconstructed using 3dshader software. At the same time, in order to verify the reliability of the algorithm, the test vehicle is tested for many times at different speeds. The results show that the relative error of the indication is less than 1% and the repeatability is less than 3%, indicating that the algorithm has high measurement accuracy and good stability.