Evolution of the Self

Went to this car show last night - vintage American cars most of them from the 50s & 60s. And suddenly it struck me as to how the Automobile technology has evolved from back then which made me think as to how Man has evolved over time. Let's forget about Darwinism now and just think about the evolution of the thinking man. What is that something that has constantly propelled Man to think in terms of sophistication, technology and 'development'?
Heard about this book 'Excession' by Iain Banks - something about what if the entire world has everything it needs, food, clothing and shelter and maybe even some things that it wants. Will post more about Excession later.
But the point is, in the realm of 'thought' evolution, there has always been a battle in the minds of Humans. The battle between the Higher self and the Lower self. What propels one towards a higher state of being and taking the high road?
Was reading James Bonnett's "Stealing Fire from the Gods" where he talks about the R-complex (reptilian complex) and the Limbic system in the human brain. Of course, R-complex is the reason for humans' instinctual self (targeting the basic physiological needs) and the Limbic system - the advanced part of the brain that's responsible for the higher self, which is geared towards humanity, love, peace and the all positive archetypes associated with one's self.
The outcome of the battle between the two selves, is what is manifested outside in a human. And the triumph of the Higher self over the Lower self in an ongoing battle is what leads to the evolution of the self. How far we can gain control over our lower self is no doubt a question to be pondered about.