The existing aerosol mobile detection system has problems such as over-reliance on labor power and difficulty in conducting continuous operations in toxic and polluted environments. This paper presents a new method for detecting aerosols. The method combines atmospheric detection LiDAR technology and intelligent driving technology. Through modular design (including control module, aerosol detection module, environment sensing and positioning module, and wire control chassis module), an intelligent cruise detection system for aerosols was built. For path planning, Gaussian pseudo-spectrum method was used. The obstacle avoidance constraints and physical constraints during cruise detection movement was fully considered. Experiments were also conducted for three different application scenarios of continuous vertical detection, scanning detection and unmanned intelligent cruise detection. The experimental results show that the system can effectively and continuously acquire the vertical and spatial distribution of aerosol pollutants. It can achieve three-dimensional scanning and positioning tracking of atmospheric aerosols. It has the ability of unmanned cruise detection and real-time warning of regional pollution prevention and control. More detection experiments will be conducted in different environments in the future. We will continue to explore the application of this technology in intelligent cruise control, detection, and pollution prevention, providing new ideas for regional pollution monitoring.