智能汽車多源融合環境感知系統綜述

【摘要】為了系統總結智能汽車多源融合環境感知技術的研究現狀，對比分析了攝像頭、激光雷達、毫米波雷達等傳感器的原理與特性，綜述了基于單傳感器（如相機目標檢測、激光雷達點云處理）及多傳感器融合（數據層、特征層、決策層）的環境感知技術，分析了其技術瓶頸與挑戰，并結合典型算法案例探討其應用效果。研究表明：單一傳感器存在固有局限性，如相機依賴光照條件、激光雷達成本高昂且無法獲取語義信息；多傳感器融合技術通過互補優勢顯著提升環境感知的魯棒性，但數據異構性、實時性不足等問題仍需突破。為了應對復雜場景下的感知需求，智能化多模態融合算法、高性價比傳感器集成及V2X協同感知技術是未來重點發展方向。

關鍵詞：智能汽車；環境感知；多傳感器融合；相機；激光雷達

中圖分類號：U463.6；TP212" "文獻標志碼：A" DOI： 10.19822/j.cnki.1671-6329.20240078

Overview on Multi-Source Fusion Environment Perception System for Intelligent Vehicles

Li Zhouda， Zha Yunfei

（Fujian University of Technology， Fuzhou 350108）

【Abstract】 To systematically summarize the research status of multi-source fusion environmental perception technology for intelligent vehicles， this paper compares and analyzes the principles and characteristics of various sensors including cameras， Light Detection and Ranging （LiDAR）， and millimeter-wave radar. The environmental perception technologies based on single-sensor approaches （such as camera-based object detection and LiDAR point cloud processing） and multi-sensor fusion strategies （data-level， feature-level， and decision-level） are reviewed with their technical bottlenecks and challenges. Typical algorithm cases are also discussed to explore their application effectiveness. The research findings indicate that： single sensors exhibit inherent limitations， such as cameras’ dependency on illumination conditions and LiDAR’s high cost with insufficient semantic information acquisition capability， as well as multi-sensor fusion technology significantly enhances environmental perception robustness through complementary advantages， yet challenges like data heterogeneity and insufficient real-time performance still remain unresolved. To meet the perception demands of complex scenarios， future development will focus on intelligent multi-modal fusion algorithms， cost-effective sensor integration， and V2X collaborative perception technologies.

Key words： Intelligent vehicles， Environmental perception， Multi sensor fusion， Camera， LiDAR

0 引言

智能汽車作為全球汽車產業新一輪科技革命與產業變革的戰略制高點，已成為推動我國汽車產業轉型升級、培育經濟增長新動能的關鍵引擎。《智能汽車創新發展戰略》明確指出，智能汽車的發展不僅有助于提升產業基礎能力，更是國家制造強國、科技強國、交通強國等戰略規劃的重要支撐[1]。當前，我國智能網聯汽車產業規模持續高速增長，2024年市場規模達到11 081.5億元，年增長率達33.7%，預計2030年全球市場規模將接近2萬億美元[2]。這得益于政策體系的持續優化、產業鏈核心技術的加速布局，以及跨行業企業的競相投入。……