Urban flooding has become an increasingly frequent and fatal natural hazard and numerical modeling techniques play a vital role in its prediction and management. We review urban flood numerical simulations by systematically summarizing the calculation methods of surface runoff, drainage systems, and coupled models. Following the review, accuracy and computational efficiency are found to be the two key areas hindering the quality improvement of urban flood models, so an investigation of the key trends in the improvement of model accuracy and computational efficiency is conducted. It is found that the 1D-2D coupling model, finite volume method, unstructured meshing method, and hybrid parallel computing applications are the most effective strategies. Furthermore, the complex coupling of models and the lack of validation data are still crucial challenges in the development of urban flood modeling. This result can be used as a guideline for hydrologists in choosing the proper method of urban flood numerical simulation according to the task.

城市洪水已成为一种日益频繁和致命的自然灾害，数值模拟技术在其预测和管理中发挥着至关重要的作用。我们通过系统总结地表径流、排水系统和耦合模型的计算方法来回顾城市洪水数值模拟。经审查，发现精度和计算效率是阻碍城市洪水模型质量提高的两个关键领域，因此对模型精度和计算效率提高的关键趋势进行了调查。发现一维-二维耦合模型、有限体积法、非结构化网格划分方法和混合并行计算应用是最有效的策略。此外，模型的复杂耦合和验证数据的缺乏仍然是城市洪水建模发展的关键挑战。该结果可为水文学家根据任务选择合适的城市洪水数值模拟方法提供指导。