1. Introduction  
2. Exploring the Transformer: Structural and Functional Insights  
2.1. The Transformer Architecture: A Structural Overview  
2.2. Self-Attention Mechanism: The Heart of Transformers  
2.3. Multi-Head Attention: Enhancing Dimensional Analysis  
2.4. Other Core Mechanics of Transformer Models  
3. Vision Transformers in Autonomous Driving  
3.1. The Rise of Vision Transformers  
4. Open Challenges and Future Directions  
5. Conclusion