智慧公路发展与研究大综述 (2025): 车路协同自动驾驶

With the continuous advancement of sensing, communication and computing technologies, and coupled with rapid deployment of intelligent transportation infrastructure, the cooperative autonomous driving is becoming a key development direction in intelligent connected vehicle (ICV) systems. This paper aims to systematically review the core technical architecture underpinning the integration of smart highways and cooperative autonomous driving, while summarizing the current progress and emerging trends in this field. First, it introduces the conceptual evolution of smart highways, their classification framework, and their functional role in supporting autonomous driving, along with representative development paths and engineering practices in major countries and regions. Second, it analyzes the development status and limitations of core single-vehicle autonomous driving technologies, highlighting their performance bottlenecks in complex scenarios. Third, the paper focuses on key enabling technologies for cooperative autonomous driving, e. g., vehicle-road-cloud integration, cooperative communication, sensor fusion, and joint decision-making and control; and discusses the challenges of multi-source data fusion and mixed traffic flow management. Finally, it reviews current testing and validation approaches for cooperative driving systems, and addresses the major issues in their engineering implementation, followed by an analysis on future development trends in smart highway-vehicle cooperative systems.