The infrastructure-vehicle cooperative autonomous driving approach depends on the cooperation between intelligent roads and intelligent vehicles. This approach is not only safer but also more economical compared to the traditional on-vehicle-only autonomous driving approach. In this paper, we introduce our real-world deployment experiences of cooperative autonomous driving, and delve into the details of new challenges and opportunities. Specifically, based on our progress towards commercial deployment, we follow a three-stage development roadmap of the cooperative autonomous driving approach:infrastructure-augmented autonomous driving (IAAD), infrastructure-guided autonomous driving (IGAD), and infrastructure-planned autonomous driving (IPAD).

中文翻译：

---

通过基础设施-车辆协作自动驾驶实现完全智能交通：挑战与机遇

基础设施-车辆协同自动驾驶方法取决于智能道路与智能车辆之间的协作。与传统的仅在车辆上进行自动驾驶的方法相比，这种方法不仅更安全，而且更经济。在本文中，我们将介绍我们在协作自动驾驶方面的实际部署经验，并深入研究新挑战和机遇的细节。具体而言，基于我们在商业部署方面的进展，我们遵循了协作式自动驾驶方法的三个阶段的发展路线图：基础设施增强自动驾驶（IAAD），基础设施指导自动驾驶（IGAD）和基础设施计划自动驾驶（ IPAD）。