With the importance of automotive drive assistance system of intelligent vehicle, vehicle detection fusing millimeter wave (MMW) radar data and vision multi-features is presented. The vehicle detection algorithm can be divided into three steps. Firstly, a space alignment algorithm between MMW radar and vision was proposed to get space alignment point according to the space transformation matrix of image coordinate and radar coordinate. The second step obtains region of interest (ROI) according to the space aligned point and search strategy. At last, vehicle detection was realized through features of vehicle including bottom shadow, symmetry, left and right edges; in this step, an improved segmentation algorithm of bottom shadow of vehicle was described in order to obtain accurate vehicle width. The performance of the algorithm was verified under different scenarios. The results show the vehicle detection algorithm is effective and feasible.