With the commercial deployment of 5G mobile communication systems, 6G is proposed to meet the needs of new use cases including connected and autonomous vehicles (CAVs). In this article, we surveyed different 6G embracing technologies such as mobile edge computing, unmanned aerial vehicles, network function virtualization, software defined networking, and artificial intelligence that can enhance the Internet of Autonomous Vehicles (IoAV) network performance comparing to existing 5G enabled solutions. Then, we highlight the convergence path of 6G and IoAV to satisfy the next generation of CAV applications. Further, we propose 6G cellular communication to support the quality of next IoAV applications. Furthermore, the article attempts to study the serious challenges in the 6G‐IoAV research field and propose potential future directions.