<p>With the increasing number of computationally intensive applications, heterogeneous systems have become an important solution for improving computing performance. In order to effectively develop and optimize parallel programs running on these systems, performance prediction has become an indispensable part. This article aims to comprehensively review the methods and tools for predicting parallel program performance in heterogeneous systems, analyze the characteristics of existing technologies, explore their development trends, and provide valuable references and guidance for researchers and developers. This article adopts a systematic review method, first sorting out the research process of parallel program performance prediction in heterogeneous systems, and then classifying and summarizing the current mainstream performance prediction methods, including analysis model-based prediction, simulation-based prediction, and machine learning based prediction. This article also summarizes the tools and platforms used to predict parallel program performance in heterogeneous systems. Through review, it was found that various performance prediction methods and tools have their own advantages in feature richness, availability, and accuracy, but they have all improved the efficiency and accuracy of parallel program performance prediction to a certain extent. The review of this article indicates that despite various methods and tools available for performance prediction, there are still many challenges and unresolved issues. Future research should further explore more accurate, efficient and intelligent prediction methods to better support the development and optimization of parallel programs in heterogeneous systems.</p>