I. NTRODUCTION
According to statistics, in the first eight months of 2020, China's national production of the electric vehicles reached 3.97 million units, corresponding to the sales of electric vehicles also reached 3.86 million units, a year-on-year growth of about 1 times, and China's electric vehicle ownership reached 10 million units, accounting for 22.9% of China's overall vehicle sales, while its export volume also reached 340,000 units [1]. Along with China's new energy strategy, technologies such as autonomous driving, which were previously limited by the lack of electric power supply in the cars themselves, have become possible. Also because of the increase of car ownership in China, how to efficiently detect road traffic targets during driving is of great importance for automatic vehicle driving technology, regular driving of drivers, etc. How to detect road targets more efficiently, quickly and accurately is an important criterion for road target detection.