Abstract: With the development of 5G technology, the Intelligent Transportation System (ITS) has become a very important part in constructing a smart city. Vehicle-to-Everything (V2X) network plays an indispensable role in the intelligent transportation system. At present, the use of automobiles is rising sharply all around the world. In order to improve people's experience of traveling, information interaction among vehicles, roads, people, and infrastructure should be realized based on a communication network which could satisfy the Ultra-Reliable Low-Latency Communication (URLLC) requirements. However, the Internet of Vehicles based on the current LTE technology cannot meet the requirements of URLLC. Therefore, improving the reliability and the performance of latency in V2X network has caused much attention. This manuscript reviews the development history of V2X standards，analyzes the requirements of URLLC in the practical scenarios of V2X, and summarizes the methods achieving the ultra-high reliability and extremely low latency in V2X network . In this paper, this manuscript reviews the development history of V2X standards. We then analyzed the requirements of URLLC in the practical scenarios of V2X. Moreover, we summarized the methods achieving the ultra-reliability and low-latency in V2X. Finally, we conclude the current researches on the V2X network and the challenges we face.