Separate insurance contracts (i.e., insurance policies not bundled with loans or other kinds of contracts) were invented in Genoa in the 14th century, as were insurance pools backed by pledges of landed estates. The first known insurance contract dates from Genoa in 1347, and in the next century maritime insurance developed widely and premiums were intuitively varied with risks. These new insurance contracts allowed insurance to be separated from investment, a separation of roles that first proved useful in marine insurance.
In the United States, insurance is regulated by the states under the McCarran-Ferguson Act, with "periodic proposals for federal intervention", and a nonprofit coalition of state insurance agencies called the National Association of Insurance Commissioners works to harmonize the country's different laws and regulations. The National Conference of Insurance Legislators (NCOIL) also works to harmonize the different state laws.
Let's use the aftermath of a major storm to illustrate the differences between collision and comprehensive. Within that storm, let's consider two hypothetical events: First, a heavy telephone pole was blown down and fell on your truck, or second, you swerved to avoid a falling tree and wound up crashing into a guardrail. In the first event, you couldn't control when or why a tree fell on your car. This kind of accident would get reimbursed under your comprehensive policy. In the second situation, you were driving the car and ultimately swerved into the guardrail. This makes it a collision, and collision insurance pays for the damages.