With the fulfillment of communication capabilities, vehicles are planned to have autonomous driving features with collaboration between vehicles, infrastructure units, pedestrians and networks elements. The main goal of vehicular communication is to provide accident-free automated driving while increasing the efficiency of road usage and supporting greener transportation. Because of the stringent requirements of vehicular networks such as low latency, high reliability, high data rate, 5G becomes emerging solution for autonomous vehicles. 5G vehicle-to-everything communication uses several communication models and technologies which make it open to several attacks such as eavesdropping, jamming, DoS, DDoS and sybil attacks. In this paper, a comprehensive literature survey about security and privacy solutions which can be applied to 5G vehicular networks are proposed. Solutions are categorized into 4 security services: authentication, confidentiality, availability and integrity. Challenges such as providing trust model for security services in vehicular networks and privacy concerns are proposed.