Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part I for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part II for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part II, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.

翻译：随着自动驾驶（AD）与智能车辆（IV）在便利性、安全性和经济效益方面的优势凸显，相关研究正快速升温。尽管已有诸多综述对该领域研究成果进行了梳理，但其多局限于特定任务，缺乏系统性总结与未来研究方向指引。本工作分为三篇独立论文：首篇为自动驾驶与智能车辆整体技术的"综述之综述"（Survey of Surveys, SoS），涵盖发展历程、里程碑事件总结，并展望伦理问题与未来研究方向。本文作为技术综述的第二部分（即第一部分），聚焦于智能车辆中控制、计算系统设计、通信、高清地图（HD map）、测试及人类行为的技术发展。第三部分（技术综述第二部分）将探讨感知与规划模块。本文旨在全面覆盖自动驾驶各技术领域，总结近期重要技术里程碑，帮助初学者快速把握自动驾驶与智能车辆的发展脉络。结合综述之综述与第二部分，我们期望本工作能为研究人员与初学者提供新颖多元的视角，并架设起连接过去与未来的桥梁。