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This paper systematically reviews the developmental trajectory of autonomous driving systems from the 1920s to 2024, analyzing four key phases's characteristics—technological origins and infancy, theoretical foundations and exploration, practical breakthroughs, and rapid development with paradigm shifts. It focuses on the modular "perception-decision-control" driving, the end-to-end driving and the synergy and competition within the vehicle-road-cloud collaborative. Research indicates that the current autonomous driving landscape exhibits a "dual-track development pattern dominated by modular driving yet driven by end-to-end driving breakthroughs", where data closed-loops and vehicle-road-cloud integration serve as critical pathways to address long-tail scenarios and enhance system generalization. However, insufficient data quality, lack of algorithmic interpretability, surging computational demands and policy adaptation delays remain the main challenges. Predictions suggest that advancements in large model-powered cognitive reasoning, neuro-symbolic hybrid architectures, lightweight deployment, and deep vehicle-road-cloud collaboration will propel autonomous driving toward a safer, more efficient, and inclusive intelligent mobility ecosystem. This study provides a systematic reference for understanding the technological landscape, optimizing development strategies, and formulating industry policies.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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