it is accepted that advanced driver assistance systems (ADAS) play a vital role in self-driving vehicles nowadays. It consists of many devices such as Light Detection and Ranging (LIDAR) systems, distance sensors and cameras. The LIDAR becomes one of the key sensors for the distance perception of a car. This paper aims at using a single-beam LIDAR device to build a 3-dimensional (3D)-map for the vision of the self-driving portable car for rescuing applications, especially for tunnels accidents. The proposed system relies on the laser beam in the LIDAR was used to measure the distance of an object, and a 3D-map was created from distance information. The main purpose of this study was to improve the operation speed of the LIDAR system by hardware and software. In our experiments, the performance of our LIDAR was investigated with different configurations in hardware connection. The 3D-mapping technique will provide a new view of an automatic car in rescue missions.