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Aiming at the key technologies needed for the development of intelligent driving technology in outdoors, this paper discusses the simultaneous localization and mapping technology of high-precision map and three-dimensional LiDAR It is quite different from the outdoor and indoor environment, On the one hand, the indoor and outdoor environments are quite different, and comprehensive treatment of dynamic and static obstacles is required, and traffic laws and regulations are also required, On the other hand, the outdoor environment also has high requirements for sensors. What’s more, poor Global Positioning System signals often lead to inaccurate positioning in outdoor situations. Around the above problems, this paper introduces two important outdoor SLAM development technologies, the first is the application of high-precision maps, including the theoretical framework and map production method. And then, the more mature indoor SLAM algorithm including the limitations of the algorithm is discussed, at last, the major breakthrough algorithm and development status of the outdoor 3D SLAM method are introduced. In the end, the future development trend of outdoor SLAM technology is proposed.