Real-time Car/Pedestrian detection models for ADAS(Advance Driver Assistance Systems )

Hello everyone,
I am trying to develop and ADAS(Advance Driver Assistance Systems ) that detects cars and pedestrians for the purpose of issuing warnings for collisions.
What are your recommendations for deep detection models that are real-time in Jetson nano for this purpose?
(Currently I am considering SSD - mobilenet v2)