无人运输系统正不断在港口货物运输中得到普及和推广，其前端环境感知技术是无人运输系统高效工作的前提和基础。由于我国港口码头自动货运起步较晚，如何将最新的自动驾驶技术融入港口无人货运系统，是当前的一个重要课题。围绕港口自动货运系统中的环境感知技术，开展全面的评述，对港口无人货运系统的构成、主要技术挑战、感知系统的硬件和软件算法进行了总结归纳，并对港口自动货运环境感知技术的未来趋势进行展望，可为港口货运智能化升级提供借鉴。

Unmanned transportation systems are constantly being popularized and promoted in port freight transportation， and their front-end environmental perception technology is the foundation for efficient operation of unmanned transportation systems. Due to the late start of automatic port freight transportation in China， how to integrate the latest advanced autonomous driving technology into unmanned port freight transportation systems is currently an important issue. This paper provides a comprehensive review of environmental perception technology in port automatic freight systems， and summarizes the composition， main technical challenges， hardware and software algorithms of the perception system for unmanned freight transportation in ports. Further， it looks forward to the future trend of environmental perception technology for automatic freight transportation in ports， providing reference for the intelligent upgrading of port freight transportation.