Self-driving cars have experienced rapid development in the past few years, and Simultaneous Localization and Mapping (SLAM) is considered to be their basic capabilities. In this article, we propose a direct vision LiDAR fusion SLAM framework that consists of three modules. Firstly, a two-staged direct visual odometry module, which consists of a frame-to-frame tracking step, and an improved sliding window based thinning step, is proposed to estimate the accurate pose of the camera while maintaining efficiency. Secondly, every time a keyframe is generated, a dynamic objects considered LiDAR mapping module is utilized to refine the pose of the keyframe to obtain higher positioning accuracy and better robustness. Finally, a Parallel Global and Local Search Loop Closure Detection (PGLS-LCD) module that combines visual Bag of Words (BoW) and LiDAR-Iris feature is applied for place recognition to correct the accumulated drift and maintain a globally consistent map. We conducted a large number of experiments on the public dataset and our mobile robot dataset to verify the effectiveness of each module in our framework. Experimental results show that the proposed algorithm achieves more accurate pose estimation than the state-of-the-art methods.