To improve the accuracy of detecting small and long-distance objects while self-driving cars are in motion, in this paper, we propose a 3D object detection method, Att-BEVFusion, which fuses camera and LiDAR data in a bird’s-eye view (BEV). First, the transformation from the camera view to the BEV space is achieved through an implicit supervision-based method, and then the LiDAR BEV feature point cloud is voxelized and converted into BEV features. Then, a channel attention mechanism is introduced to design a BEV f…