面向自动驾驶的感知决策一体化综述

刘泽禹; 张慧; 李浥东

doi:10.11959/j.issn.2096-6652.202502

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面向自动驾驶的感知决策一体化综述

综述与展望 | 更新时间：2025-06-10

- 面向自动驾驶的感知决策一体化综述
- A review of integrated perception and decision-making for autonomous driving
- 智能科学与技术学报 2025年7卷第1期页码：4-20
- 作者机构：
  
  北京交通大学计算机科学与技术学院，北京 100044
- 作者简介：
  
  [ "刘泽禹（2000- ），男，北京交通大学计算机科学与技术学院硕士生，主要研究方向为多模态融合感知。" ]
  [ "张慧（1993- ），女，北京交通大学计算机科学与技术学院副教授，主要研究方向为复杂环境下的车辆感知、多传感器融合的协同检测、多模态目标检测、群体智能、平行视觉等。" ]
  [ "李浥东（1982- ），男，北京交通大学计算机科学与技术学院教授、院长、博士生导师，交通大数据与人工智能教育部重点实验室主任，主要研究方向为大数据智能、数据隐私保护、先进计算、智能交通等。" ]
- 基金信息：
  
  中央高校基本科研业务费专项资金资助(2024JBMC045)
- DOI：10.11959/j.issn.2096-6652.202502
  中图分类号： TP39
- 收稿：2024-10-16，
  
  修回：2025-01-10，
  
  纸质出版：2025-03-15
- 稿件说明：
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刘泽禹,张慧,李浥东.面向自动驾驶的感知决策一体化综述[J].智能科学与技术学报,2025,07(01):4-20.

LIU Zeyu,ZHANG Hui,LI Yidong.A review of integrated perception and decision-making for autonomous driving[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):4-20.
刘泽禹,张慧,李浥东.面向自动驾驶的感知决策一体化综述[J].智能科学与技术学报,2025,07(01):4-20. DOI： 10.11959/j.issn.2096-6652.202502.

LIU Zeyu,ZHANG Hui,LI Yidong.A review of integrated perception and decision-making for autonomous driving[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):4-20. DOI： 10.11959/j.issn.2096-6652.202502.

摘要

近年来，感知决策一体化的端到端方案取得了突破性进展，为提升自动驾驶的安全性和可靠性提供了新的思路。现有的综述多聚焦于单独车辆对外部环境的感知，忽略了在多智能体协同下的复杂交互关系。基于当前的研究现状，从应用方法的角度出发，探讨了单智能体感知决策一体化方法，并分析了在多智能体协同条件下的感知决策一体化方法。首先，对感知决策一体化自动驾驶的基础技术进行了总结；其次，重点介绍了感知决策一体化自动驾驶技术的最新研究进展；再次，阐述了自动驾驶领域常用的大规模公共数据集；接着，介绍了目前常用的感知决策一体化自动驾驶评估方法；最后，对感知决策一体化自动驾驶进行了总结与展望。

Abstract

In recent years

end-to-end solutions integrating perception and decision-making have made groundbreaking progress

providing new approaches to enhancing the safety and reliability of autonomous driving. Existing reviews often focus on the perception of the external environment by individual vehicles

overlooking the complex interactions in multi-agent collaboration. Based on the current state of research

integrated perception and decision-making methods for single agents were explored from an application perspective

and methods under multi-agent collaborative conditions were analyzed. Firstly

foundational technologies for integrated perception and decision-making in autonomous driving were summarized. Secondly

the latest research advancements in integrated perception and decision-making technologies for autonomous driving were highlighted. Thirdly

large-scale public datasets commonly used in the field of autonomous driving were elaborated upon. Then

the evaluation methods currently employed for integrated perception and decision-making in autonomous driving were introduced. Finally

a summary and outlook on integrated perception and decision-making in autonomous driving were presented.

关键词

Keywords

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