Self-driving vehicle is going to fast develop and will also impact the user experience,consumer purchase habit and purchase motivation. In the coming years most of users care about the self-driving vehicle will bring the benefit of convenient and safety. Self -driving vehicle will create the economic benefit included saving the cost and time as well as avoiding the traffic accidents. Since 2010s,Car makers and IT companies all allocate the resource into the self-driving technology. This study seeks to explore the development of ecosystems led by six firms:Nvidia,Intel-Mobileye,Google-Waymo,Microsoft,Baidu and Tencent. It particular focusses on the coopetition relationship among these six firms and their ecosystem participants. The findings present that ecosystem leaders commit differently on different technologies and therefore open up cooperative potentials with each other.