自动驾驶系统在复杂道路环境中的安全运行，需要多类传感器协同工作。然而传感器在运行过程中，会因自身故障、恶劣天气、算法问题产生错误数据，导致系统误判障碍物，从而引发安全问题。本文分析摄像头、激光雷达、毫米波雷达等传感器的固有局限，提出异常检测的有效方法，以及多传感器融合在自动驾驶安全预警中的应用体现，以期为提升自动驾驶的安全性提供技术参考。

The safe operation of automatic driving system in complex road environment requires the cooperation of many kinds of sensors. However, the sensor will produce wrong data due to its own fault, bad weather and algorithm problems during operation, which will lead to the system misjudging obstacles, thus causing safety problems. This paper analyzes the inherent limitations of cameras, lidar, millimeter-wave radar and other sensors, and puts forward effective methods of anomaly detection and the application of multi-sensor fusion in automatic driving safety early warning, in order to provide technical reference for improving the safety of automatic driving.