The invention provides a vehicle lower boundary detection method based on multi-sensor fusion. Through measuring information of a millimeter-wave radar and a camera, space alignment points are obtained, an area of interest containing a target vehicle is selected in a camera image according to space alignment point information, by determining k peak values of the area of interest, k-1 threshold values of the area of interest are determined, a minimum threshold value is obtained, and accordingly a vehicle lower boundary shadow area corresponding to a gray level area marked out by the minimum threshold value, finally, a vehicle lower boundary shadow line is obtained in the shadow area, and vehicle lower boundary detection is achieved. By using a certain searching strategy, the target area of interest is determined, the target area of interest can contain the target vehicle, the size of the area can be proper, following computing is convenient, the k-1 threshold values are determined through a particle swarm optimization algorithm, operation steps are simplified, operation speed is improved, and meanwhile area dividing accuracy is improved.