The transportation field will be continuously upgraded, subverted, and reshaped under the impetus of the technological revolution represented by artificial intelligence. To promote the development of autonomous driving, in addition to the technological construction of a vehicle-road coordination system, it is also necessary to build a new governance architecture for autonomous driving in terms of management models. The worldwide governments have generally recognized the legal status of autonomous driving systems and regulated the rules on the administration of road testing. However, this new technology has not been generally allowed to be commercially applied in the transportation service. This article analyzes the fundamental influences that autonomous driving will bring to the road system. The changes in the road, vehicle, transportation service, and governance model are discussed in detail. The potential legal and institutional obstacles in the process of autonomous driving entering the field of transportation are invested, which mainly include the road infrastructure, vehicle equipment, drivers, and transportation management. This paper puts forward the basic principles of legal construction in transportation to promote autonomous driving. Also, supervision directions are proposed to guarantee transportation safety. According to the different characteristics of the development process, this article divides the development process into the open road test stage and the commercial stage. What is more, the commercial stage is divided into three detailed periods. At different stages of development, suggestions on the abolition and reform of relevant regulations and documents have been proposed to clarifying the regulation system for the promotion of autonomous driving commercial applications.