The rapid development of intelligent and connected vehicles (ICV) in recent years promotes theoretical research in related fields from driving assistance to automated driving, from single-vehicle intelligent driving to multi-vehicle cooperative driving.ICV systems are expected to improve traffic safety and efficiency, but they face complex challenges in real traffic environment. This paper presents a survey of ICV technologies relating to 3 aspects: system architecture design, functional technology and application. This survey first introduces typical architectures of ICV, and then the development and challenges of three key functional technologies: perception, decision making and control, in consideration of driver-vehicle-road interactions in real traffic environment. Finally, this paper analyzes ICV applications in typical scenarios and the future development of related technologies.