Autonomous driving has been widely applied in commercial and industrial applications, along with the upgrade of environmental awareness systems. Tasks such as path planning, trajectory tracking, and obstacle avoidance are strongly dependent on the ability to perform real-time object detection and position regression. Among the most commonly used sensors, camera provides dense semantic information but lacks accurate distance information to the target, while LiDAR provides accurate depth information but with sparse resolution. In this paper, a LiDAR-camera-based fusion algorithm is proposed to improve the above-mentioned trade-off problems by constructing a Siamese network for object detection. Raw point clouds are converted to camera planes to obtain a 2D depth image. By designing a cross feature fusion block to connect the depth and RGB processing branches, the feature-layer fusion strategy is applied to integrate multi-modality data. The proposed fusion algorithm is evaluated on the KITTI dataset. Experimental results demonstrate that our algorithm has superior performance and real-time efficiency. Remarkably, it outperforms other state-of-the-art algorithms at the most important moderate level and achieves excellent performance at the easy and hard levels.