The present disclosure provides a method for generating an object detection box, comprises: obtaining a set of point-cloud data frames collected by a radar device within a set period; obtaining, from the set, a first point-cloud data frame corresponding to a first time when an unmanned vehicle is closest to a target object, and obtaining first detection box information corresponding to the target object in the first point-cloud data frame that is obtained through an automatic detection algorithm; determining whether the first detection box information is valid detection box information with respect to a second cloud-point data frame in the set that corresponds to a second time prior to the first time; and determining whether the first detection box information is to be used as final detection box information of the target object in the second point-cloud data frame according to the result of the determination.