环境感知能力是地面无人车辆(UGV)自主、安全、可靠行驶的前提和基础。无人地面车辆的环境感知系统利用各种主动、被动传感器获取周围环境的信息，对传感器数据进行处理、融合、理解，实现无人车辆对行驶环境中的道路、障碍物的检测以及地形分类等，给车辆的自主导航和路径规划提供依据。本文描述了无人地面车辆环境感知系统的组成，研究了结构化和非结构化道路上的道路和障碍检测方法，分析了各种检测方法的检测效果，对环境感知系统当前面临的问题以及未来的发展趋势进行了总结和展望。

The ability to perceive the vehicle’s local environment is one of the main challenges in the field of Unmanned Ground Vehicles(UGV). Many kinds of positive-negative sensors are used to obtain the information of the vehicle’s local environment. The environment perception system is in charge of processing, fusing and understanding the information. The system also realizes the detection of road and obstacles and the classification of terrains. Autonomous navigation and path planning of UGV are based on the process results of perception system. In this paper, the architecture of environment perception system is introduced. The methods of road detection and obstacles detection are discussed, and then the detection results of these methods are analyzed. The existing problems and the future development trends of the environmental perception system are summarized and prospected at last.