I have a 10-year US visa but my maple card expired since November 2007. Anyone here knows if it will be a trouble if I want to come back Canada  through US border by driving? Thanks.

Found answer myself : http://www.cic.gc.ca/english/information/faq/pr-card/pr-card-faq10.asp, just in case anyone wants to know this too.

"Do I require a Permanent Resident Card if I’m returning to Canada by car?

The Permanent Resident Card is required to re-enter Canada by commercial carrier (airplane, boat, train or bus) only. This requirement does not apply if you are travelling by car." --- from Citizenship and Immigration Canada website.

But you need other ID to reenter Canada if you don't want to show your maple card.