Abstract: In order to realize the high-precision automatic detection of asphalt pavement textures and the 3D reconstruction of pavement textures with the help of 3D laser technology, a method for measuring the depth of the asphalt pavement structure by simulating the sand patch test was proposed. First, a high-precision 3D laser scanner was used to obtain the 0.1 mm-precision 3D elevation data of asphalt pavement of Ya’an–Kangding expressway, and the artificial sand patch method was used to measure the macro-structure depth value in the same area. Second, the digital image processing technology was used to reconstruct the 3D cloud image of the asphalt pavement and perform data noise processing. Finally, a four-connected multi-seed combination filling algorithm was designed to automatically pave sand on the filtered 3D road texture cloud map and obtain the macro structure depth of road texture. The results show that the average absolute error between the mean texture depth (MTD) values measured by the simulation method and the artificial method is 0.052 mm, and the correlation coefficient between them is 0.96, which verifies the feasibility of replacing the existing contact road surface friction performance test with a non-contact road surface texture test, and can lay a foundation for network-level monitoring and management of road traffic safety.