  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).
