In the past decade, due to the progress of artificial intelligence, the development of driverless vehicle technologies is changing with each passing day. Because of this, driverless vehicles have been introduced into smart city and become one of the most popular urbanization solutions. It is expected to reduce the traffic burden, improve land use efficiency and expand the scale of cities. This paper investigates the main areas of driverless vehicles, such as sensors and hardware, localization and mapping, perception, planning and decision making, etc. This paper also introduces the database for driverless vehicles and the application of driverless vehicles in smart city.