To ensure safe operation of autonomous vehicles in complex urban
environments, complete perception of the environment is necessary. However, due
to environmental conditions, sensor limitations, and occlusions, this is not
always possible from a single point of view. To address this issue, collective
perception is an effective method. Realistic and large-scale datasets are
essential for training and evaluating collective perception methods. This paper
provides the first comprehensive technical review of collective perception
datasets in the context of autonomous driving. The survey analyzes existing V2V
and V2X datasets, categorizing them based on different criteria such as sensor
modalities, environmental conditions, and scenario variety. The focus is on
their applicability for the development of connected automated vehicles. This
study aims to identify the key criteria of all datasets and to present their
strengths, weaknesses, and anomalies. Finally, this survey concludes by making
recommendations regarding which dataset is most suitable for collective 3D
object detection, tracking, and semantic segmentation.

以自动驾驶为背景，综述了现有的集体感知数据集，并分类分析了基于不同标准如传感器模式、环境条件和场景多样性的车车及车基础设施数据集，旨在确定数据集的关键标准和呈现其优势、缺陷和异常，最终针对集体三维物体检测、跟踪和语义分割提供了推荐。