智能系统学报2026，Vol.21Issue(1)：41-59,19.DOI:10.11992/tis.202505027
面向智能网联汽车的BEV感知技术与发展趋势
BEV perception technologies and development trends for intelligent connected vehicles
摘要
Abstract
Bird's eye view(BEV)perception has become a fundamental technique for environmental understanding in autonomous driving,due to its unified and interpretable spatial representation.This survey provides a comprehensive re-view of BEV perception technologies tailored for intelligent connected vehicles.It systematically categorizes existing approaches based on sensor modality and deployment configuration,covering vehicle-side,infrastructure-side,and vehicle-infrastructure cooperative scenarios.The review introduces a multi-dimensional framework encompassing vis-ion-only,LiDAR-only,and multimodal fusion methods,and analyzes representative techniques in terms of their design principles and implementation strategies.In addition,this work presents the first consolidated comparison of BEV-re-lated datasets,detailing their sensor setups,task types,and annotation schemes to support standardized benchmarking.Finally,the survey outlines key challenges-such as open-category recognition,unsupervised learning from large-scale data,and robustness under sensor uncertainty-and explores future directions involving end-to-end autonomous driving,embodied intelligence,and large-model-based cooperative BEV perception systems.关键词
智能网联汽车/车路协同/协同感知/鸟瞰视图/自动驾驶/数据集/车联万物/多模态融合Key words
intelligent connected vehicles/vehicle-infrastructure cooperation/cooperative perception/BEV/autonom-ous driving/dataset/vehicle-to-everything(V2X)/multimodal fusion分类
信息技术与安全科学引用本文复制引用
宫彦,王乃棒,张新钰,苏纳宇,赵红飞,袁云,鲁建丽,胡小溪,刘华平..面向智能网联汽车的BEV感知技术与发展趋势[J].智能系统学报,2026,21(1):41-59,19.基金项目
国家自然科学基金项目(62273198) （62273198）
北京市自然科学基金项目(L241017). （L241017）
