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From the perspective of domestic patent applications, a patent analysis is conducted on the technological evolution of the perception module in intelligent driving, based on 2 branches: sensor hardware technology and multi-sensor fusion technology. The study finds that multi-sensor combinations of cameras, LiDAR, and millimeter-wave radar remain the mainstream configuration. Feature-level and decision-level fusion technologies, due to their lower computational resource demands, have become the preferred solutions for the current large-scale deployment of intelligent driving. In the future, performance improvements in perception systems will advance along 3 directions: self-supervised spatiotemporal alignment, lightweight deployment of end-to-end models, and robustness against extreme weather conditions.

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从国内专利申请的视角，基于传感器硬件技术、多传感器融合技术2个分支对于智能驾驶中的感知模块技术演进进行了专利分析。研究发现：摄像头、激光雷达、毫米波雷达多类型传感器仍是目前的主流传感器组合，而特征层、决策层融合技术由于计算资源依赖低等优势成为目前智能驾驶落地的首选方案。未来，感知系统的性能提升将围绕自监督时空标定、端到端模型轻量化及极端天气鲁棒性推进。

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