Under the premise of relying on roadside millimeter wave radar perception, this project uses V2X, 5G and other wireless communication technologies to make the car have the ability of over-the-horizon perception with the help of vehicle-road-cloud collaboration. A moving vehicle target matching algorithm based on topological statistical distance is proposed to realize the correlation matching between the floating car GPS positioning information and the millimeter wave radar data. At the same time, the intelligent vehicle data is matched with the radar data by using the acceleration change of the gyroscope and the acceleration matching detected by the radar, and the weighted processing is combined with the above algorithm to complete the target matching of the moving vehicle, it provides a new method for accurate identification and matching of roadside detection equipment in moving vehicles. Build a distributed cluster edge computing platform to provide strong computing power support within the roadside range, thus reducing the delay of information release. In addition, this project designs and develops an APP platform based on Android system for travelers, on the one hand, it realizes the collection of GPS information of floating cars, on the other hand, it also completed the visualization of microscopic holographic traffic information, effectively avoiding blind spots for vehicles. Therefore, the technology not only faces the public and improves driving safety, but also provides a new way of thinking for the perception in automatic driving technology.