Fig. 1. Network structure diagram of improved SSD algorithm

Fig. 2. Scale distribution graph of candidate boxes

Fig. 3. (a) Long focal length image; (b) Short focal length image; (c) Image with fusion processed; (d) Partial image without fusion processing; (e) Partial image with fusion processed

Fig. 4. （a） Collected vehicle pictures; （b） Improved SSD algorithm for vehicle detection result in complex environment

Fig. 5. (a) Radar detection results in dynamic target simulation; (b) Influence of Lifetime parameters on radar detection results

Fig. 6. Installation location of camera and radar on real vehicle

Fig. 7. (a) Experimental picture; (b) Data collection

Fig. 8. (a) Data interaction between camera and radar;(b) Vehicle test results