A method of detecting an object, being applied to a camera device and comprising: based on a radar detection signal for detecting a to-be-detected object and a reflected radar detection signal, determining (101, 404, 501) spatial position information of the to-be-detected object, wherein the spatial position information at least comprises: distance information of the to-be-detected object relative to the camera device and speed information of the to-be-detected object; in response to that the speed information satisfies a preset speed requirement, based on the distance information, determining a calibration size range corresponding to the to-be-detected object, and based on a collected image containing the to-be-detected object, determining an actual size of the to-be-detected object in the image, wherein the calibration size range is used to represent, when the to-be-detected object is a specified object, a size range of the specified objected in the image; based on the actual size and the calibration size range, determining whether the to-be-detected object is the specified object, characterized in that wherein, based on the distance information, determining the calibration size range corresponding to the to-be-detected object comprises: inputting the distance information to a preset size prediction model to obtain a corresponding calibration size, wherein the size prediction model is pre-stored in the camera device and represents a correspondence between distance information from the to-be-detected object to the camera device and calibration sizes; based on the calibration size and a preset size error, determining the calibration size range. based on a radar detection signal for detecting a to-be-detected object and a reflected radar detection signal, determining (101, 404, 501) spatial position information of the to-be-detected object, wherein the spatial position information at least comprises: distance information of the to-be-detected object relative to the camera device and speed information of the to-be-detected object; in response to that the speed information satisfies a preset speed requirement, based on the distance information, determining a calibration size range corresponding to the to-be-detected object, and based on a collected image containing the to-be-detected object, determining an actual size of the to-be-detected object in the image, wherein the calibration size range is used to represent, when the to-be-detected object is a specified object, a size range of the specified objected in the image; based on the actual size and the calibration size range, determining whether the to-be-detected object is the specified object, characterized in that wherein, based on the distance information, determining the calibration size range corresponding to the to-be-detected object comprises: inputting the distance information to a preset size prediction model to obtain a corresponding calibration size, wherein the size prediction model is pre-stored in the camera device and represents a correspondence between distance information from the to-be-detected object to the camera device and calibration sizes; based on the calibration size and a preset size error, determining the calibration size range. inputting the distance information to a preset size prediction model to obtain a corresponding calibration size, wherein the size prediction model is pre-stored in the camera device and represents a correspondence between distance information from the to-be-detected object to the camera device and calibration sizes; based on the calibration size and a preset size error, determining the calibration size range.