5GCroCo [164] is also an European Union (EU) funded project under the Horizon
(H2020) framework. It focuses on building trial 5G networks along France,
Germany and Luxembourg to support the European-level research activities by
integrating telecommunication and automotive industries. 5GCroCo builds two
main 5G trial sites across Germany - Luxembourg border and France - Germany
border. In addition, 5GCroCo develops five small scale test sites at Montlhéry
(France), Motorway A9 (Germany), Munich (Germany), AstaZero (Sweden) and
Barcelona (Spain) 5GCroCo project mainly focuses on emerging 5G technologies
such as MEC, 5G NR V2X and secure service orchestration. It also focuses on
defining new business models related to 5G autonomous vehicles. Finally,
5GCroCo focuses on three main use cases i.e. tele-operated driving, High-
Definition (HD) mapping and anticipated cooperative collision avoidance.

####  VI-A4 5G for cooperative and connected automated MOBIility on X-border
corridors (5G-MOBIX)

5G-MOBIX [165] is another European Union (EU) funded project under the Horizon
(H2020) framework. It focuses on building trial 5G networks to enable
sustainable future for connected and automated vehicle. 5G-MOBIX contains two
cross-boarder corridors at Greece – Turkey and Spain – Portugal boarders. In
addition, 5G-MOBIX develops several small scale test sites at Espoo (Finland),
Jinan (China), Versailles Satory (France), Paris (France), Berlin (Germany),
Stuttgart (Germany), Yeonggwang (South Korea) and Eindhoven-Helmond
(Amsterdam). In addition, 5G-MOBIX builds the International research
cooperation between Europe, China and Korea in 5G autonomous vehicles related
research activities. Finally, 5G-MOBIX focuses on several 5G autonomous
vehicles use cases such as cooperative overtake, highway lane merging, truck
platooning, valet parking, urban environment driving, road user detection,
vehicle remote control, see through, HD map update, media and entertainment.

####  VI-A5 ICT Infrastructure for Connected and Automated Road Transport
(ICT4CART)

ICT4CART [166] is an H2020 project got funded by EU. It focuses on blending
the technological developments in telecommunication, automotive and IT
industries to realize the transition towards connected and automated vehicles.
It focuses on research areas such as hybrid connectivity, flexible network
slicing, data management and privacy, network security and localisation.
ICT4CART project has a cross-boarder corridors at Italy – Austrian boarder and
three small scale trail sites at Graz (Austria), Ulm (Germany), and Verona
(Italy).

####  VI-A6 Terahertz sensors and networks for next generation smart
automotive electronic systems (car2TERA)

Car2TERA [167] project is an EU H2020 funded project which focuses on in-cabin
radar and high speed onboard data communications for autonomous automobiles.
On this regards, the Car2TERA project focuses on adapting sub-terahertz
(150-330 GHz) communication to offer efficient and sufficient bandwidth for
high resolution demands of in-vehicle radar communications. In addition,
short-range, sub-THz frequency radar technology can be useful to improve in-
cabin as well as outdoor sensing.

####  VI-A7 Fifth Generation Communication Automotive Research and innovation
(5GCAR)

5GCAR [168] project is an EU H2020 funded project which focuses on 5G C-V2X.
It has focuses on different aspects of 5G C-V2X such as radio access network,
spectrum matters, system architectural options, network orchestration and
management security and privacy issues, Edge computing enhancements, multi-
connectivity cooperation and possible business models. 5GCAR focuses on three
5G autonomous vehicles use cases i.e. lane merge coordination, cooperative
perception for maneuvers of connected vehicles and vulnerable road user
protection.

####  VI-A8 Other Projects

Several other projects are listed below which have 5G autonomous vehicles as a
minor focus.

  * •

Enhance driver behaviour and Public Acceptance of Connected and Autonomous
vehicLes (PAsCAL) Project [169] is focusing on studying the opinions and
expectations of general public towards the autonomous vehicles and connected
driving technologies.

  * •

Artificial Intelligence based cybersecurity for connected and automated
vehicles (CARAMEL) project [170] is developing AI/ML based anti-hacking
intrusion detection and prevention systems for automotive industry including
autonomous vehicles. It considers the security impact of several novel
technological directions such as 5G, autopilots, and smart charging.

  * •

Next generation connectivity for enhanced, safe and efficient transport and
logistics (5G-Blueprint) project [171] is focusing on 5G based tele-operated
cross-border transport and logistics.

  * •

Unmanned Aerial Vehicle Vertical Applications’ Trials Leveraging Advanced 5G
Facilities (5G!Drones) project[172] is focusing on trial several UAV use-cases
covering eMBB, URLLC, and mMTC 5G services.

###  VI-B Standards Developing Organizations (SDOs)

Standardization activities are the key to define technological requirements of
autonomous vehicles and also define possible 5G technologies to realize these
requirements. This section summarises the several key global level
standardization activities related to the 5G autonomous vehicles.

####  VI-B1 European Commission (EC)

EC supports the development of autonomous vehicles to realize the Connected
and Automated Mobility (CAM) across the Europe333Shaping Europe’s digital
future https://digital-strategy.ec.europa.eu/en/policies/connected-and-
automated-mobility. This initiative aims on developing a safer, user-friendly,
greener and more-efficient European-level transport and mobility systems. EC
supports the introduction and deployment of autonomous vehicles in different
levels such as

  * •

European-level policy development

  * •

European-level standard development

  * •

Providing funding for research and innovation projects

  * •

Developing EU-level legislation

Table XIII: Important standardization efforts by EC related to 5G and B5G
Autonomous Vehicles

Standards document/ Specification/Publication |  Topics/Description |  Update/publi-cation date
---|---|---
Certificate Policy for Deployment and Operation of European Cooperative Intelligent Transport Systems (C-ITS)[173] |  Presents certificate policy defined by European C-ITS Trust model |  2018-06
C-ITS Point of Contact (CPOC) Protocol [174] |  Describes the CPOC Protocol of the EU C-ITS Security Credential Management System (EU CCMS). |  2019-01
Security Policy and Governance Framework for Deployment and Operation of European Cooperative Intelligent Transport Systems (C-ITS) [175] |  Presents the governance framework and security policies for the European C-ITS system |  2017-12
COM (2016) 766: A European strategy on Cooperative Intelligent Transport Systems, a milestone towards cooperative, connected and automated mobility [176] |  Presents EC’s strategy on C-ITS towards connected and automated mobility |  2016-11

Note: We consider the latest update date of the document stated in the SDO
repositories. There may be more recent in-progress yet unpublished versions
due to ongoing SDO work group efforts.

Table XIV: Recent important white papers by 5GAA related to 5G and B5G
Autonomous Vehicles

Publication |  Topics/Description |  Update/publi-cation date
---|---|---
Safety Treatment in V2X Applications[177] |  Present the important safety aspect of 5G based C-V2X applications. |  2021-07
Cooperation Models enabling deployment and use of 5G infrastructures for CAM in Europe [178] |  Illustrates five different cooperation models that can be used to deploy 5G infrastructures for CAM. |  2021-03
C-V2X Use Cases Volume II: Examples and Service Level Requirements [179] |  Present examples of 5G enabled C-V2X use cases and their Service Level Requirements (SLR) |  2020-10
A Visionary Roadmap for Advanced Driving Use Cases, Connectivity Technologies, and Radio Spectrum Needs [180] |  Presents the advancement of 5G to achieve road safety, traffic efficiency, energy efficiency, and compatibility in CAM. |  2020-09
5GAA Efficient Security Provisioning System [181] |  Present the design specifications of ’Efficient Security Provisioning System’ (ESPS) for 5G V2X systems. |  2020-05
Making 5G Proactive and Predictive for the Automotive Industry [182] |  Describes and specifies the concept of predictive QoS in the context of 5G CAM systems |  2020-08
C-V2X Use Cases: Methodology, Examples and Service Level Requirements [183] |  Present examples of 5G enabled C-V2X use cases and their Service Level Requirements (SLR) |  2019-07
C-V2X Conclusions based on Evaluation of Available Architectural Options [184] |  Illustrates and analyses the architectural options two C-V2X communication use cases, i.,e. Intersection Movement Assist (IMA) and Vulnerable User (VRU) Discovery. |  2019-02
Benefits of using existing cellular networks for the delivery of C-ITS [185] |  Presents the benefits of using telecommunication networks for C-ITS services. |  2019-01
Toward fully connected vehicles: Edge computing for advanced automotive communications [186] |  Provides an overview of edge Computing enabled autonomous vehicle use cases. |  2017-12
The cost-benefit analysis on cellular vehicle-to-everything (C-V2X) technology and its evolution to 5G-V2X [187] |  Presents the cost-benefit analysis of relevant to the deployment of C-V2X and 5G-V2X in Europe. |  2017-12
The Case for Cellular V2X for Safety and Cooperative Driving [188] |  Elaborates necessity of C-V2X for connected autonomous driving. |  2016-11

Note: We consider the latest update date of the document stated in the SDO
repositories. There may be more recent in-progress yet unpublished versions
due to ongoing SDO work group efforts.

Table XV: Recent important standardization efforts by ESTI related to 5G and
B5G Autonomous Vehicles

Standards document/Specification/Publication |  Topics/Description |  Update/publi-cation date
---|---|---
TR 103 099: Intelligent Transport Systems (ITS); Architecture of conformance validation framework [189] |  Present the base architectural specifications of conformance validation framework to support the LTE-V2X access technology. |  2020-06
TR 103 193: Intelligent Transport Systems (ITS); Testing; Interoperability test specifications for ITS V2X use cases; Architecture of ITS Interoperability Validation Framework [190] |  Present the updated architecture of ITS interoperability validation framework |  2020-06
TR 101 607: Intelligent Transport Systems (ITS); Cooperative ITS (C-ITS); Release 2 [191] |  Present the updated system requirements of Cooperative ITS (C-ITS) system. |  2021-01
TS 103 141: Intelligent Transport Systems (ITS); Facilities layer; Communication congestion control [192] |  Defines the specifications of facilities layer algorithms. |  2021-06
TR 102 638: Intelligent Transport Systems (ITS); Use cases; Description [193] |  Describes the ITS use cases studied by ESTI ITS TC. |  2021-05
TS 103 324: Intelligent Transport Systems (ITS); Cooperative Perception Services [194] |  Defines the syntax and semantics of message and data formats of the Cooperative Perception Service (CPS) for ITS applications. |  2021-05
TS 103 561: Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Maneuver Coordination Service [195] |  Specify the maneuver coordination service to support automatic driving functions. |  2018-01
TR 103 578: Intelligent Transport Systems (ITS); Vehicular Communications; Informative report for the Maneuver Coordination Service [196] |  Analyzes the maneuver coordination service to support automatic driving functions. |  2020-10
TS 102 894: Intelligent Transport Systems (ITS); Users and applications requirements; [197] |  Specify the facilities layer Protocol Data Unit and Service Data Unit. |  2019-10
TS 103 724: Intelligent Transport Systems (ITS); Facilities layer function; Interference Management Zone Message (IMZM); Release 2 [198] |  Specify an ”Interference Management Zone” (IMZ) message and protocol. |  2021-07
TS 103 696: Intelligent Transport System (ITS); Communication Architecture for Multi-Channel Operation (MCO) [199] |  Specify the ITS architectural extensions to enable Multi-Channel Operation (MCO) operation. |  2021-06
TR 102 962: Intelligent Transport Systems (ITS); Framework for Public Mobile Networks in Cooperative ITS (C-ITS); Release 2 [200] |  Defines framework for public mobile networks in C-ITS |  2021-02
TR 103 439: Intelligent Transport Systems (ITS); Multi Channel Operation study [201] |  Defines the requirements of multi channel operations to support ITS use cases. |  2021-07

Note: We consider the latest update date of the document stated in the SDO
repositories. There may be more recent in-progress yet unpublished versions
due to ongoing SDO work group efforts.

EC also has special interest in unitizing 5G technologies for autonomous
vehicles and connected mobility. In 2017, EC has initiated the task of
building designate 5G cross-border corridors with the support of 29 signatory
countries. These 5G cross-border corridors can be used to test and demonstrate
the EU level automated driving projects4445G cross-border corridors
https://digital-strategy.ec.europa.eu/en/policies/cross-border-corridors. EU
H2020 program has funded three 5G cross-border corridor projects (i.e.
5G-CARMEN [163], 5GCroCo [164] and 5G-MOBIX [165]) to realize this vision.

In 2016, EC launched a new high level group for the automotive industry called
GEAR 2030555Commission launches GEAR 2030 to boost competitiveness and growth
in the automotive sector https://ec.europa.eu/growth/content/commission-
launches-gear-2030-boost-competitiveness-and-growth- automotive-sector-0_en.
It consist of members such as EU commissioners, representatives from member
states and stakeholders from automotive, telecommunications and insurance
sectors. This GEAR 2030 group is focusing on developing coherent EU level
policy, legal and public support framework for autonomous vehicles.

In addition, EC supports the development of Cooperative Intelligent Transport
Systems (C-ITS) which can intelligently and securely share the road users and
traffic information 666Intelligent transport systems Cooperative, connected
and automated mobility (CCAM)
https://ec.europa.eu/transport/themes/its/c-its_en. These information are
useful for autonomous vehicles to take more informed decision and efficiently
coordinate their actions. Under EU funding programs, EU is offer funding for
research and innovation projects to utilize and also further developing this
C-ITS framework. Table XIII presents the important standardization efforts by
EC.

####  VI-B2 European Automotive - Telecom Alliance (EATA)

As a result of EU commission’s high level round table discussion on CAM and
autonomous vehicles, EATA has formed to promote the the development of EU
level autonomous vehicles activities[202]. The vision of EATA is to support
the collaboration between stakeholders in automotive and telecommunication
sectors to explore and accelerate the deployment of connected and automated
driving in across the Europe. EATA mainly focuses on addressing regulatory and
legislative obstacles on deployment of connected and automated vehicles. It
proactively involve in initiating dialogue with national, EU-level as well as
global level policy makers to eliminate the potential obstacles and define new
technical and regulatory measures support connected and automated driving.
Moreover, it supports research and innovation projects focusing on automated
vehicles by mobilizing public funding for trail sites.

####  VI-B3 CAR 2 CAR Communication Consortium(C2C-CC)

The CAR 2 CAR Communication Consortium (C2C-CC)[203] is an global-level
organization which consist of members from road operators, automotive
manufactures, IT service providers, telecommunication operators and research
organizations. It was founded in 2002. The vision of C2C-CC is to realize the
goal of vision zero, i.e accident free traffic as early as possible. To
realize this vision, C2C-CC is supporting the development of ultra-reliable,
robust and matured safety solutions. It also supports the innovations in 5G
and wireless technologies with special focus on spectrum efficiency, ad-hoc
short-range V2X communications. It contributes to the EU and global level
standardisation activities to harmonized the development of V2X communication.
Moreover, C2C-CC contributes to development of the EC’s C-ITS framework.

####  VI-B4 5G Automotive Association (5GAA)

5GAA[204] is the one of the leading global level SDOs which is mainly focus on
the integration of 5G with automotive industry. It has cross-industry members
from different sectors such as automotive, IT and telecommunication. The 5GAA
is working on developing 5G as the ultimate platform to enable C-ITS and V2X.
5GAA has established seven Working Groups (WGs), i.e.

  * •

WG 1: Use Cases and Technical Requirements

  * •

WG 2: System Architecture and Solution Development

  * •

WG 3: Evaluation, Testbeds, and Pilots

  * •

WG 4: Standards and Spectrum

  * •

WG 5: Business Models and Go-To-Market Strategies

  * •

WG 6: Regulatory and Public Affairs

  * •

WG 7: Security and Privacy

These 5GAA WGs develop relevant standards, architectures, frameworks and
business cases related to 5G based autonomous vehicles and its applications.
Table XIV presents the important standardization efforts by 5GAA.

####  VI-B5 European Telecommunications Standards Institute (ESTI)

ETSI[205] is one of the world largest telecom SDOs which is focusing of
standardization of mobile networks and its services. ETSI initiates a
Technical Committee (TC) called Intelligent Transportation Systems (ITS) which
has a special focus on automated and connected vehicles777Automotive
Intelligent Transport Systems (ITS). ITS TC is working under three main themes
i.e. Cooperative-ITS (C-ITS), automotive radar and anti-collision radar. Under
these themes, they develop standards related overall automotive communication
architecture, system management, communication protocols, security and access
layer agnostic protocols. Table XV presents the important standardization
efforts by ESTI.

####  VI-B6 3rd Generation Partnership Project (3GPP)

3GPP[206] is another one of the largest telecom SDO which is actually a
consortium of seven other telecommunication SDOs. 3GPP is mainly responsible
for developing standards for C-V2X which replaces the Dedicated short-range
communications (DSRC) developed in US and C-ITS originated in Europe888V2X
https://www.3gpp.org/v2x. Initial C-V2X standard was included in the Release
14 9993GPP Release 14 https://www.3gpp.org/release-14 which was published in
2017. This C-V2X standards are developed to as an decisive step towards
enabling autonomous driving with the support of future telecom networks such
as 5G and beyond. In 2020, NR-V2X as a part of Release 161010103GPP Release 16
https://www.3gpp.org/release-16 comes as an improvement to support automated
driving. It supports complex interaction Use cases such as cooperative
automated driving.

####  VI-B7 International Telecommunication Union - Telecommunication (ITU-T)

ITU-T[207] is a global level telecom SDO. In 2019, ITU-T has launched a Focus
Group on AI for autonomous and assisted driving (FG-AI4AD) to support the
standardization activities of AI-enabled autonomous and assisted driving
systems and services111111Focus Group on AI for autonomous and assisted
driving (FG-AI4AD)
https://www.itu.int/en/ITU-T/focusgroups/ai4ad/Pages/default.aspx. This FG is
also focusing on harmonize global-level activities to define a minimal
performance threshold for AI-enabled autonomous and assisted driving systems.

####  VI-B8 Alliance for Telecommunications Industry Solutions (ATIS)

ATIS[208] is a leading ICT SDO which is focusing of various technologies such
as 5G/6G, intelligent networks, blockchain, IoT, smart Cities and security.
ATIS has formed a Connected Car-Cybersecurity Ad Hoc Group which studies
collaboration opportunities between telecoms and automotive sectors in-terms
of cybersecurity. Specially, ATIS group analyzes the different types of
security threats in connected automated vehicles, and discuss role of future
mobile network to prevent these attacks[209].

####  VI-B9 5G Americas

5G Americas[210] is an SDO based in America which support the advancement 5G
and beyond network applications throughout the American countries. 5G Americas
identifies and promotes 5G V2X as an critical technology to enable connected
and autonomous vehicles. 5G V2X can be used to enable critical information
exchange among the autonomous vehicles to improve navigation and situation
awareness to avoid road accidents. In 2018, 5G Americas published a white
papers on ”Cellular V2X Communications Towards 5G” [211] which provides
insights on the role of emerging 5G technologies to realize advance V2X
communication.

####  VI-B10 Next Generation Mobile Networks (NGMN) Alliance

NGMN[212] is an telecom SDO which is also focusing on 5G and beyond networks.
In 2016, NGMN formed a V2X task force to evaluate V2X technologies to speedup
the deployment of the C-V2X technology. This task force has fuel the
cooperation between telecom and automotive sectors to develop new policies and
business models. The task force also studies spectrum management, security and
privacy aspects of future ITS. In 2018, NGMN published a white paper [213]
which presents eight V2X use cases and their technological requirements.

####  VI-B11 Other SDOs

Several other SDOs are listed below which have 5G autonomous vehicles as a
minor focus.

  * •

The European Council for Automotive R&D (EUCAR)[214] is a consortium of
vehicle manufacturers which was founded in 1994. The EUCAR is focusing on
development of strategies and solutions for future challenges in car industry
by defining common frameworks and supporting research and innovation
activities.

  * •

5G Alliance for Connected Industries and Automation (5G-ACIA)[215] is an
global-level SDO mainly focusing on deployment of 5G for Industrial Internet
and smart factory applications. 5G-ACIA is also working on research and trail
use-cases of 5G-enabled cloud-controlled Automated Guided Vehicles (AGVs)
which can be used in industrial environments121212 5G Alliance for Connected
Industries and Automation endorses testbeds for evaluation of industrial 5G
use cases https://5g-acia.org/press-releases/5g-alliance-for-connected-
industries-and-automation-endorses-testbeds-for- evaluation-of-
industrial-5g-use-cases/.

##  VII Lessons Learned and Future Research Directions

This section discusses the lessons learned and based on these lessons it
synthesizes the future research directions that paves the way for the
researchers to carry out their research on this domain.

###  VII-A Technical Aspects

####  VII-A1 Lessons Learned

AV basically relies on V2X technology and 5G communications to fulfill the
requirements like high transmission rate, low latency less than 5ms,
reliability, and with good response time to communicate with other vehicles
and communication with infrastructure present on the road. Telecommunication
and automobile industry are trying to build an innovative ecosystem by
integrating 5G in AV with the recent technologies. Recently, 5G Automotive
Association (5GAA) a global cross industry released a new roadmap called
automotive Cellular V2X technology which received Innovation Award Honour in
the ”Vehicle Intelligence and Self-Driving Technology” category at the CES
2019.In navigation and path planning, 5G is used in local perception to
control the short range vehicles with respect to safety, traffic control and
energy management parameters. Accurate positioning of vehicles in AV is
achieved in object detection using 5G enabled networks. URLLC is designed to
handle V2V communication dynamically with ultra-low latency and ultra-high
reliability. Real-time decision are made faster in 5G enabled AV. Integration
of 5G with V2X helps to visualize the objects and obstacles more quickly.
Inorder to provide fast processing and prior decision making, good
connectivity is required which is achieved by 5G in AV. emBB provides high
quality in bandwidth for vehicular communication. URLLC, mMTC and eMBB in 5G
works together to provide faster connection speeds, higher device capacity and
lower latency in AV applications.Some of the benefits of using 5G in AV are
driving the vehicles at high speed with high bandwidth, information delivery
in minimal time limits due to low latency, notification alerts ahead about any
hazardous events and provides self-decision using AV integrated with AI

####  VII-A2 Possible Future Directions

Some of the challenges in using 5G in AV are basically 5G spectrum are too
expensive and can be purchased by spectrum auctions.The cost incurred in
extending the existing network to 5G is too high and mapping network with
reference to geo locations is a tedious task. AV using 5G and beyond can be
further extended to perform the following activities

  * •

Predictive maintenance:Drivers can proactively maintain the vehicle to avoid
failure during driving. In-vehicle sensors monitors the conditions of the
components present inside the vehicle like battery life, fuel pump and starter
motor. Data from cloud combined with AI can predict potential maintenance
issues before the occurrence of failure.

  * •

Advanced Infotainment Customers can be provided with additional information by
integrating AI with AR, VR and sensors to have realistic experience.

  * •

Traffic safety service:  5G communication devices embedded inside the vehicles
collects the information from the environment and pedestrians are stored in
the cloud. Analytics on these data warns the drivers about the hazardous roads
and traffic congestion which in turn recommends the solution for alternate
path.

5G network is considered as a key technology to design a driverless vehicles
which is one of the most exciting domain in near future. It has become an
important technology in automobile industry integrated with the telecom
industry to provide a best experience to the customer. With the advancement in
the technologies like V2X and wireless communication, new generation of
driverless vehicles is going to drive the automobile industry globally.

###  VII-B B5G technologies

####  VII-B1 Lessons Learned

Apart from large bandwidth requirements, several functionalities of AVs like
object detection, lane detection, collision avoidance, navigation, V2V/V2X/V2I
communications require several features like reduced latency, improved
physical layer infrastructure, privacy & security for seamless AD. The
supporting technologies of B5G such as MEC, network slicing, SDN/NFV, 5GNR,
blockchain, FL, and ZSM can help in providing these requirements to AVs.
However, several challenges such as generation of labels in real time for
training the ML algorithms, lack of justification of the
predictions/recommendations of ML algorithms, huge dimensionality of the data
generated, etc. have to be addressed to realize the full potential of B5G for
AV. Also, the autonomous vehicles may be connected to multiple networks on the
road. Due to mobility of vehicles, it is likely that an AV may move out of
coverage area of the access network and may have to join another network.
Availability of availability of MEC for multiple access technologies is a
significant challenge. Another significant challenge is the management of huge
data generated from the AVs that are interconnected in real time [216].

####  VII-B2 Possible Future Directions

Explainable Artificial Intelligence (XAI) can be adopted in B5G to address for
trustability/justification/explainability of the decisions/predictions from ML
algorithms in applications such as object detection, lane detection, collision
avoidance, etc [217, 218, 219]. For instance, consider that the AV is taking a
human to the destination. Suddenly, the AI/ML model gives suggestion to the AV
to take another route, which is different than the intended route. In these
situations, the AV should be in a position to explain/justify the actions it
has taken to avoid a particular route or choosing a particular route. XAI can
help the humans to understand the actions of AVs in these kinds of situations.
Unsupervised ML models can work on unlabelled data, that can address the
challenge of big data generated by AV in 5GB era [220]. Several dimensionality
reduction techniques can be used to extract the most important features from
the large volumes of data generated in real time [221]. Handover problems
associated with the AVs registered to one network and requiring to join
another network during the mobility can be addressed by open radio access
network (Open RAN) platform [222].

###  VII-C Security Concerns in AVs

####  VII-C1 Lessons Learned

From the security point of view, as highlighted in Table XII, it can observed
that compared to In-Vehicle communication, the vulnerabilities brought by V2X
technologies are more. V2X technologies will widen the attack surfaces thereby
increasing the level of threats for the AVs. All the basic security goals i.e.
confidentiality, integrity, availability and authentication needs to be
addressed while incorporating V2X technologies with AVs. There is need of
effective countermeasures to mitigate the threats arising from three main
attack categories i.e. spoofing, denial of service, injection and physical
attacks.

####  VII-C2 Possible Future Directions

The potential future directions can be categorised based on basic security
goals as mentioned above especially with the main focus on V2X technologies. A
strong and robust authentication mechanisms will be required for AVs to
communicate with trusted entities while moving from one place to the other. An
authentication mechanism with high latency and computing power requirement
might provide attackers ample time to carry out spoofing or man-in-the-middle
attack. Similarly, most of the protocols within AVs do not use encryption, how
to secure communication within vehicle and while interacting with other
entities outside the vehicles also seems interesting future research
direction. Also, there will be huge amount of data generated by AVs, storing
that data while preserving privacy of users and making that data available to
legitimate users is yet another interesting research direction.

###  VII-D Projects

####  VII-D1 Lessons Learned

Today, many research projects and SDO activities are focusing on the
development of 5G and B5G networks to support the deployment of autonomous
vehicles. These activities primarily focus on technical developments of 5G/b5G
related technologies such as MEC, NS, 5G NR, ZSM, and AI. Significantly, NS
and MEC got particular focus as these technologies can play a critical role in
deploying autonomous vehicle-related applications and services. In addition,
there are a significant number of research projects and standardization
activities contributing to relevant 5G and B5G technical aspects such as path
planning, mobility, service migration, security, and privacy. However, it
might take a few more years for these standardizations to be fully deployed by
different stakeholders such as mobile operators, governments, regulators,
manufacturers, and third-party service providers. Thus, the continuous
cooperation between different working groups (i.e., academia and industry) and
SDOs are highly required in the coming years. Especially, funding frameworks
such as H2020 by European Commission (EC) fuel these activities.

####  VII-D2 Possible Future Directions

In the future, there are two primary questions to be addressed. First, how to
address the lack of AV-specific standardization in core 5G SDOs? Currently, AV
is considered just one use case of 5G/B5G networks and still lacks a dedicated
focus on AV within the core 5G SDOs. To resolve this, more AV stakeholders
should contribute to 5G SDOs, and more AV-related sub-groups would be formed
within core 5G SDOs to develop dedicated AV-related standards.

Second, how do we integrate and cooperate between different working groups and
SDOs? The strong cooperation between AV SDOs and core 5G SDOs would be further
encouraged. This will resolve some of the issues related to the first issue.
More joint research and SDOs activities should be planned in the future.

###  VII-E Emerging and Future Research Directions related to AV

5G network is considered as a key technology to design a driverless vehicles
which is one of the most exciting domain in near future. It has become
important technology in automobile industry integrated with the telecom
industry to provide a best experience to the customer. With the advancement in
the technologies like V2X and wireless communication, new generation of
driverless vehicles is going to drive the automobile industry globally.

####  VII-E1 Quantum Computing

Quantum computing is the next future generation of automotive technology.
Electric vehicles are significant part of quantum revolution. Automobile
manufactures have started taking advantage of quantum computers to solve
various automotive problems. AI in AV requires large amount of data for
analysing and providing optimal response in dynamic situations. For detecting
real time car locations and designing the optimal path requires high computing
power and speed in AI. The former feature, high computing power can achieved
by quantum computers. German automobile company Volkswagen collaborated with
D-Wave systems to design and develop traffic routing in Beijing based on
quantum computing systems. These systems can also solve optimization problems
like waiting time, deployment of fleets etc., Volkswagen has also partnered
with google to predict the state of traffic to avoid accident and to simulate
the behaviour of electrical component and embed AI in driverless cars. As the
AV are more vulnerable to outside world, security breaches can be solved by
quantum security. AV requires tremendous computing powers like optimized route
planning and change the entire transport systems into smart systems. The cars
will become smarter by communicating among themselves and outside world. More
developments are expected in the field of AV integrated with quantum computers
to achieve the benefits of computing and processing power.

####  VII-E2 Cognitive Cloud

Cognitive AI and algorithms would help us to simulate human-level performance
specifically in level 5 AV. Satisfying the level 5 AV is a tedious task as it
needs accurate decision making, object detection and localization under
uncertain conditions like fog, rain and extreme darkness. Cognitive computing
enhances the model accuracy to achieve closeness to humanlike performance in
object detection and decision making. Integration of Cognitive computing in AV
leads to improved safety and accuracy. Cognitive Internet of Vehicles allows
the AV to focus on what, how and where to compute dynamically closer to human
brain.

##  VIII Conclusion

In this study, several aspects of AVs such as its features, levels of
automation, architecture, key-enabling technologies and requirements for
autonomus vehicular communication were discussed. Key requirements in terms of
latency, security level, privacy, bandwidth, mobility, scalability,
availability and reliability for potential AV applications (navigation and
path planning, object detection, URLLC, mMTC, eMBB) were also identified.
Several emerging technologies such as MEC, SDN and others were studied in
detail and impact of 5G/B2G on these technologies was discussed. We also
identified key security concerns in AVs with respect to 5G/B2G technology and
highlighted recent standardization efforts by different organisation. Finally,
several key research challenges and future research directions were also
identified and discussed.

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