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We introduce a Point-Cloud-Guided Depth Prediction Network (PCGD-Net), which enhances the image branch\u2019s depth prediction capability by embedding point cloud spatial prior, ground-truth loss constraint, and projected point cloud depth filling. Additionally, we design a Dynamic Self-adaptive Feature Fusion Module (DSF-Module), which computes multimodal feature similarity using window attention and performs weighted fusion based on self-adaptive weights, resolving alignment deviations in BEV features. Finally, we propose a Dilated Attention Enhancement Block (DAEB), which expands the receptive field through dilated convolution and integrates parameter-free attention mechanism (SimAM) for feature enhancement, ensuring efficiency while improving overall feature representation. Experimental results on nuScenes validation set show that BEV-Nexus outperforms it baseline (BEVFusion) by 1.8% mAP and 1.5% NDS. On the test set, BEV-Nexus improves mAP and NDS by 1.6% and 1.4%, respectively. Furthermore, the detection FPS remains nearly unchanged, demonstrating significant lightweight advantages.<\/jats:p>","DOI":"10.3390\/s26154720","type":"journal-article","created":{"date-parts":[[2026,7,27]],"date-time":"2026-07-27T08:15:56Z","timestamp":1785140156000},"page":"4720","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["BEV-Nexus: BEV Perception Algorithm Based on Depth Perception Enhancement and Dynamic Adaptive Fusion"],"prefix":"10.3390","volume":"26","author":[{"given":"Xiaona","family":"Song","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haozhe","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengyi","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianlin","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lijun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,7,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Alaba, S.Y., and Ball, J.E. 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