The real realization ofautonomous driving（AD）landing is determined by the development of key technologies such as scenario library and simulation. This report illustrated on the key technologies of AD across the world，including scenario-based simulation and testing technology，scenario library construction，functional safety and safety of the intended functionality，human-machine co-driving and human-machine interaction technology. Focused on simulation test technology of the model in the loop（MIL），software in the loop（SIL），hardware in the loop（HIL）and vehicle in the loop（VIL）that applied in development stages and simulation platform. Analysised the Pegasus based construction models and examples of the virtual scene database around the characteristics of infinity，expansibility，batch and automation of the virtual scene database. Key technologies of functional safety development of high-level AD function，vehicle functional safety verification，construction of safety scenario database，vehicle level hazard identification and analysis are introduced. Finally，the control authority cooperation of human-machine co-driving is summarized and analysised from the three dimensions of information perception，strategic decision-making and operation execution. It is believed that the development of the technology of scene database，simulation test and functional safety will further promote the realization of the landing of AD.