自动驾驶技术正深刻重塑未来出行模式，而环境感知能力是车辆决策规划的前置条件，其可靠性直接关系到行驶安全。相较于高成本的多激光雷达方案，基于摄像头的计算机视觉技术以其丰富的场景语义信息和硬件成本优势，成为大规模普及自动驾驶的关键技术。基于此，本文针对如何构建高鲁棒性、高效率、高安全性的视觉主导型感知模块展开探讨，以期为低成本、高性能自动驾驶感知方案的落地提供技术参考。

Autonomous driving technology is profoundly reshaping the future travel mode, and environmental perception ability is a prerequisite for vehicle decision-making planning, and its reliability is directly related to driving safety. Compared with high-cost multi-lidar schemes, camera-based computer vision technology has become a key technology for the large-scale popularization of automatic driving due to its rich scene semantic information and hardware cost advantages. Based on this, this paper discusses how to build a vision-dominant perception module with high robustness, high efficiency and high safety. It is expected to provide technical reference for the landing of low-cost and high-performance automatic driving perception schemes.