Thisarticlehasbeenacceptedforinclusioninafutureissueofthisjournal.Contentisfinalaspresented,withtheexceptionofpagination.IEEETRANSACTIONSONINTELLIGENTTRANSPORTATIONSYSTEMS1Vehicle-Road-CloudCollaborativePerceptionFrameworkandKeyTechnologies:AReviewBolinGao,JiaxiLiu,HengduoZou,JiaxingChen,LeiHe,andKeqiangLiAbstract—Overrecentyears,theVehicle-Road-CloudIntegra-communicationtechnologiestointegratethephysicalandtionSystem(VRCIS)andIntelligentandConnectedVehiclescyberlayersintoaunifiedsystem,encompassingelements(ICVs)havegainedsignificantattentionintherealmofsuchaspedestrians,vehicles,roads,andthecloud.Byfacilitat-autonomousdriving.Bysharingdataacrossdiverset...