## 3 Solution Disassembly of Intelligent Driving Technical Routes
### Technical Components of Intelligent Driving  
Table 1 shows the technical components of intelligent driving, including sensors, computers, actuators and communicators. This study mainly combed the incremental components from human driving to intelligent driving and fully considered the evolution trend of various technical components.  
The accuracy of sensors will continue to increase; for example, vehicles will be equipped with cameras with higher pixels and locators with smaller errors. In addition, sensors will have richer functions; for example, MMW radars will be able to achieve 4D imaging [30]. Considering the technology with lower cost, hybrid solid-state lidar and solid-state lidar will replace mechanical lidar in the future [31].  
With the increase of sensors, the on-board computational capacity needs to be increased, which will further promote the centralization of the electronic and electrical architecture of the whole vehicle [32]. For the intelligent driving system developed based on the function superposition strategy, the control can be completed by the combination of several electronic control units (ECUs) with low computational capacity. For the intelligent driving system developed based on the scenario-driven strategy, all relevant data must be integrated, and a domain control unit (DCU) or even a central computer with higher computational capacity is needed to complete the data processing.  
For actuators, electric power-assisted actuators have been widely used in ADAS, and the wire-controlled chassis with faster response speed and higher safety is considered the foundation of medium-level and high-level intelligent driving [33]. For communicators, a T-BOX based on 4G-V2X is sufficient to meet the common networking needs. However, to realize collaborative intelligence, vehicles need to communicate with roadside devices and  
\begin{table}
\begin{tabular}{c c l} \hline \hline
**Category** & & **Components** \\ \hline \multirow{5}{*}{Sensors} & \(\bullet\) & Camera (2 MP, 8 MP and 12 MP) \\  & \(\bullet\) & Millimeter-wave radar (short-range, long-range, 4D-imaging) \\  & \(\bullet\) & Lidar (mechanical, hybrid solid-state, solid-state) \\  & \(\bullet\) & Ultrasonic radar \\  & \(\bullet\) & High precision locator (meter, decimeter, centimeter) \\  & \(\bullet\) & Micro-electromechanical system \\ \hline \multirow{3}{*}{Computers} & \(\bullet\) & Electronic control unit \\  & \(\bullet\) & Domain control unit \\  & \(\bullet\) & Central computer \\ \hline \multirow{2}{*}{Actuators} & \(\bullet\) & Braking system (electric power-assisted, wire-controlled) \\  & \(\bullet\) & Steering system (electric power-assisted, wire-controlled) \\ \hline \multicolumn{2}{c}{Communicators} & \(\bullet\) & Telematics BOX (4G-V2X, 5G-V2X) \\ \hline \hline \end{tabular}
\end{table}
Table 1: Technical components of intelligent driving.  
the cloud, so 5G-V2X with higher broadband and more connections becomes a necessary choice. It should be noted that the cost of roadside and cloud equipment needed for collaborative intelligence should be borne by public finance, which will not directly affect the TCO of vehicles. Therefore, this study did not take these components into consideration. [PERSON] et al. evaluated the cost of the intelligent upgrade of transportation infrastructure for intelligence-connected vehicles, which can be used as a supplement.