Textbook in PDF format As the development of autonomous driving is in its infancy, more and more companies, engineers, scientists, and students are entering or planning to enter this field. As a practitioner who has been deeply involved in computer software, computer vision, and machine learning for decades and has entered the front line of research and development in this emerging technology field, we want to systematically introduce the cutting-edge technical theories of autonomous driving to the newcomers. Since autonomous driving contains too much content, with limited pages, the focus of this book is on the introduction of cutting-edge technologies, especially the tracking of some current hot spots in autonomous driving, such as sensor fusion for perception, maps and localization, driving behavior learning and prediction, end-to-end planning and control, BEV and occupancy perception, neural rendering and Gaussian splatting, large scale models and AI agent-based autonomous driving technology