With the development of sensors, smart terminals, artificial intelligence, and sixth generation mobile communication technology (6G), autonomous driving technology continues to advance to higher levels. Timely obtaining complete and effective driving environment information is the key to ensure the safe operation of autonomous vehicle. Cooperative perception technology is an effective means and method for autonomous vehicle to obtain driving environment information. By analyzing the collection, transmission, and fusion process of collaborative perception information in autonomous driving, exploring the technology of collaborative perception information sharing and fusion, and providing solutions for collaborative perception information acquisition and processing. Analyze the edge computing task unloading mechanism of autopilot, comprehensively optimize the indicators such as delay, energy consumption, load balance and task completion rate, and provide high-quality computing, storage and communication services for autopilot. Based on the latest technological achievements and development vision of future 6G, analyze the important wireless measurement carriers for 6G integrated sensing and communications, and explore new paths and methods for realizing autonomous driving collaborative sensing technology.