All species are constantly evolving. Even we are still constantly evolving today.
However, the last 3 million years has been a rough time for all life on our planet. This is because the constant glaciation cycle our planet has been in has been making it hard for species to survive through the multiple and repeated bouncing back and forth between ice age climates to tropical climates, then right back to Ice Age again.
We know that out last living "cousin" was Neanderthal, and it is less a case that they "became extinct" and more a case of "they became us". As thanks to advances in recovering ancient DNA we know that there was a fair amount of cross-breeding between Sapiens and Neanderthal.
But Neanderthal had evolved a hell of a lot of traits that suited them to an existence along the edges of the ice sheets. And while they had some of the most advanced weapons of the era, they were all hand held weapons. They had spears, but the thrusting kind and not the throwing kind. Meanwhile, Sapiens evolved in an even hotter and drier climate and developed throwing weapons. Thrown spears are known to have existed among them 400 kya, and there is some conjecture based on some spears found they had also developed the atlatl.
But it is interesting that Hominids did not develop until the ice age cycles began, and there have evolved over a dozen different species in the past 3 million years. And as a clarification, that is 8 Hominids and 7 closely related Australopithecus (there is still debate as to if they are actually hominids or their own distinct species).