AFAIK, these could be F1 innovations:

Electronic brake distribution?
Electronic clutches
Semi automatic gearboxes
Drive by wire throttle
Data logging

I could be wrong (and often am) but I thought these first originated in F1.

I am sure there are some more. I guess I am in te F1 is good for road cars camp.

Something else to consider is that some innovations do not come from F1, but are refined in F1.

If you are looking for a road car directly benefiting form F1, then the Ferrari F50 used a detuned F1 engine from memory. Not exactly mainstreme, but it is a road car.