Abstract:With the development of electrification, intelligence, networking, and sharing in the automotive industry, all major countries have laid out the intelligent connected vehicle as a national strategy. The technological development of cellular vehicle-to-everything (C-V2X), edge computing networks, and high-precision positioning systems provide strong support for the comprehensive integration of the vehicle to vehicle, vehicle to the road, vehicle to pedestrian, and vehicle to cloud. Vehicles, roads, and cloud platforms are integrated with the C-V2X network, information exchange between the in-vehicle, road, and cloud with the out-vehicle, roadside, and different clouds will be accelerated, and the vehicle-road-cloud coordinated fusion perception, group decision, and collaborative control will also be established. Firstly, the architecture and key technologies of the intelligent connected vehicle-road-cloud cooperation system are combed, and its evolution characteristics and development constraints are summarized. Then, the architecture design and working principle of the new vehicle-road-cloud cooperation system, intelligent connected C-V2X communication system, the cloud control system, and vehicle-road-cloud cooperation test system are described. Besides, from the three aspects of C-V2X networking, fusion positioning, and test evaluation, the V2X network and fusion positioning-based technical evolution and research progress of vehicle-road-cloud cooperation system are introduced, and the simulation platform, real vehicle test, and evaluation index of intelligent networking scenario are also proposed. Finally, the development trends of the intelligent connected vehicle-road-cloud cooperation system in the aspects of collaborative networking and control, interoperability, edge intelligent service, and security technology are discussed.