A　heterogeneous　computing　platform　is　an　computing　system　that　composed　of　different　types　of　computing　units.　By　fully　using　the　computing　ability　of　different　types　of　computing　units,　the　heterogeneous　computing　platform　can　achieve　better　performance　and　power　efficiency　than　traditional　homogeneous　computing　platform.　In　this　paper,　we　firstly　summarize　and　analyze　the　key　factors　that　affect　the　performance　of　a　heterogeneous　computing　platform.　Next,　we　conduct　a　specific　survey　about　these　key　factors　from　both　software　and　hardware　aspects　and　introduce　some　research　results　and　key　technologies　at　present.　And　then,　we　introduce　the　heterogeneous　computing　framework　and　make　a　comparison　between　OpenCL　and　HSA　which　are　now　both　promising.　At　last,　we　analyze　the　future　directions　of　the　heterogeneous　computing　platform.