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Autonomous driving is recognized as a global development direction and a major opportunity. The function and use of the vehicle has changed profoundly. The vehicle is gradually transformed from a simple transportation tool to a smart mobile space. The ultimate goal of autonomous driving is to achieve driverless driving. In the course of its development, man-control will gradually turn into to system-control. In other words, the transition from level 3 (L3) to level 4 (L4) is a fundamental leap. At present, the specific path to achieve this leap is not yet clear. Different companies have different and even opposite thinking and choices. In this study, the grading standard for autonomous driving was clearly explained, and the technical route selection of the company was analysed. Based on the analysis, the requirements of sensing, decision making, execution between the L3 and L4 were compared. Moreover, the key technical difficulties of L3 to L4 were clarified. In the end, suggestions on the commercialization of autonomous driving were given.