自动化学报2025，Vol.51Issue(2)：233-248,16.DOI:10.16383/j.aas.c230575
向智能网联汽车的车路协同感知技术及发展趋势
Vehicle-road Collaborative Perception Technology and Development Trend for Intelligent Connected Vehicles
摘要
Abstract
With the continuous development of perception technology and the improvement of intelligent transport-ation infrastructure,the status of intelligent connected vehicle applications in the field of autonomous driving has been gradually improved.Autonomous driving perception has progressed from single-vehicle intelligence to vehicle-road collaboration,and several new collaborative perception technologies and methods have emerged in recent years.The purpose of this paper is to comprehensively describe the vehicle-road collaborative perception technology for in-telligent connected vehicles,and summarize the relevant available data and the development trend in this direction.Firstly,the collaborative perception strategies for intelligent connected vehicles are divided,and the advantages and shortcomings of different perception strategies are summarized;Secondly,the key technologies of collaborative per-ception for intelligent connected vehicles are elaborated,including the perception technology and communication technology in the process of vehicle-road collaborative perception;Then the vehicle-road collaborative perception methods are summarized,and the research related to solving the problems of perception fusion(PF),perception se-lection and compression(SC)in collaborative perception in recent years are summarized;Finally,the large-scale dataset of vehicle-road collaborative perception is organized,and the development trend of collaborative perception of intelligent connected vehicles is analyzed.关键词
智能网联汽车/车路协同/协同感知/安全通信/自动驾驶Key words
Intelligent connected vehicles/vehicle-road collaboration/collaborative perception/secure communica-tion/autonomous driving引用本文复制引用
张新钰,卢毅果,高鑫,黄雨宁,刘华平,王云鹏,李骏..向智能网联汽车的车路协同感知技术及发展趋势[J].自动化学报,2025,51(2):233-248,16.基金项目
国家重点研发计划(2018YFE0204300),国家自然科学基金(62273198,U1964203)资助Supported by National Key Research and Development Pro-gram of China(2018YFE0204300)and National Natural Science Foundation of China(62273198,U1964203) （2018YFE0204300）
