V2V	Vehicle to vehicle
AVs	Autonomous vehicles
CAVs	Connected autonomous vehicles
TS-IFF	Two-stage intermediate-level feature fusion
DWLM	Dynamic weight learning mechanism
AFSM	Adaptive feature selection module
SSD	Single-shot detector
FPN	Feature pyramid network
VFE	Voxel feature encoding
BEV	Bird’s-eye view
3D CNN	3D convolutional neural network
2D CNN	2D convolutional neural network
DT	Default Towns
CC	Culver City
GT	Ground truth
PI	Pseudo-image