智能科学与技术学报2025，Vol.7Issue(2)：143-164,22.DOI:10.11959/j.issn.2096-6652.202528
车路群智协同感知方法综述
A review of collaborative intelligent perception methods for vehicle-road systems
摘要
Abstract
The intelligent system of a single vehicle has certain perception limitations,such as the inability to perceive be-yond visual range,the lack of global perception capabilities,and restricted perception capabilities in extreme situations.To enhance vehicle perception capabilities,vehicle-road collaborative intelligent perception technology has emerged.This technology enables multiple intelligent agents(such as vehicles,infrastructure,etc.)to share perceived information,inte-grate and analyze it,and thereby gain a more comprehensive and accurate understanding of the environment.This paper focuses on the latest developments in vehicle-road collaborative intelligent perception methods.Firstly,it introduces the fundamental technological support for vehicle-road collaborative intelligent perception methods.Secondly,it categorizes collaborative modes into four types based on data processing and interaction methods.Then,it delves into three primary collaborative perception methods and commonly used large-scale collaborative perception datasets.Finally,it discusses the challenges faced by vehicle-road collaborative intelligent perception technology and the outlook for future research.Vehicle-road collaborative intelligent perception methods help to compensate for the deficiencies of single-agent percep-tion and achieve comprehensive environmental perception.关键词
车路协同/协同感知/信息融合/通信技术/自动驾驶Key words
vehicle-road collaborative/collaborative perception/information fusion/communication technology/autono-mous driving分类
信息技术与安全科学引用本文复制引用
洪东洋,张慧,张译匀,王雨桐,韩瑜珊,曹原周汉,李浥东..车路群智协同感知方法综述[J].智能科学与技术学报,2025,7(2):143-164,22.基金项目
中央高校基本科研业务费项目(No.2024JBMC045) （No.2024JBMC045）
国家自然科学基金青年基金项目(No.62203040) Fundamental Research Funds for the Central Universities(No.2024JBMC045),Youth Fund of The National Natural Science Foundation of China(No.62203040) （No.62203040）
