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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 commercialarXiv:2103.02176v1 fatcat:akzb5la6mrgb7ja6pmsbxx2uiu