As the latest algorithm of YOLO series, which is the masterpiece of onestage, YOLOv4 has improved the detection speed and accuracy compared with YOLOv3, but YOLOv4 still has room for improvement in the detection speed of video streams. A vehicle target detection algorithm integrating Camshift and YOLOv4 was proposed.The process of the algorithm was: the difference value hashing value of the image was calculated, then the hash value was used to determine the similarity between the current frame image and the previous frame image; when the similarity was less than the threshold, it was handed over to the YOLOv4 algorithm for detection, and the detection result was passed to Camshift as its initialized tracking window; when the similarity was greater than the threshold, it was tracked by the Camshift algorithm. Finally, the data collected on the actual road was tested by the algorithm. The test results show the effectiveness of the fusion algorithm.