Abstract: This paper conducts a thorough exploration of vehicle-to-everything (V2X) communication in the realm of intelligent connected vehicles (ICVs). It initiates by tackling challenges across three pivotal phases of cooperative communication: pre-communication, during-communication, and post-communication. The discourse delves into a spectrum of concepts and strategies to surmount these challenges. Furthermore, it meticulously scrutinizes diverse communication scenarios and associated techniques, evaluating their significance and feasibility. Moreover, an in-depth analysis of various datasets is undertaken, considering their distinctive attributes and suitability for diverse communication tasks. The paper critically examines and debates the platforms and frameworks used in the experiments, providing valuable insights into their performance. Following a comprehensive review of existing methods and datasets, the paper identifies potential research directions and challenges that warrant further exploration in the realm of V2X communication for intelligent connected vehicles. This comprehensive examination contributes to a deeper understanding of the subject, paving the way for future advancements in this dynamic field.