Introduction

Through highly integrated technology systems such as internet of vehicles communication, autonomous driving and cloud-edge computing, intelligent connected vehicles have become a new industrial form to realize the integrated development of human-vehicle-road-cloud ubiquitous perception, information fusion and collaborative control [1]. Driven by the transformation of the new four modernizations automobile industry such as electrification, intelligence, networking and sharing, as well as the policy guidance and promotion of the United States, China, the European Union and Japan, the technological innovation and system construction of the intelligent connected vehicles industry have also risen to become a development strategy at the national level.