Fifth Generation (5G) mobile technology is the latest generation of mobile networks that is being deployed to facilitate emerging applications and services. 5G offers enhanced mobile broadband, massive machine type communication, and ultra reliable low latency communication. Hence, the capabilities of 5G can be harnessed to satisfy the requirements of autonomous vehicles (AV). AVs are developed to offer comfort, safety and efficient driving. However, the capabilities of 5G are yet to be harness by AVs and related technologies. In response, this survey provides a comprehensive review on AVs in the 5G and beyond era. The paper provides a discussion on the current advancements in AVs, automation levels, enabling technologies and the requirement of 5G networks. Furthermore, the paper focuses on emerging technologies enabling the integration of 5G with AVs, the impact of 5G and B5G for AVs and the envisaged security concerns in AVs. The paper also provides a comprehensive understanding of recent developments in terms of standardisation activities and projects on 5G AV technologies. The article also provides lessons learnt, existing challenges, and future research directions to facilitate the development of AV technologies in the 5G and beyond era.

第五代 (5G) 移动技术是最新一代的移动网络，正在部署以促进新兴应用和服务。5G 提供增强的移动宽带、海量机器类型通信和超可靠的低延迟通信。因此，可以利用 5G 的功能来满足自动驾驶汽车 (AV) 的要求。自动驾驶汽车旨在提供舒适、安全和高效的驾驶体验。然而，AV 和相关技术尚未利用 5G 的功能。作为回应，本次调查对 5G 及以后时代的自动驾驶汽车进行了全面回顾。该白皮书讨论了 AV、自动化水平、支持技术和 5G 网络要求的当前进展。此外，该白皮书重点介绍了支持 5G 与 AV 集成的新兴技术、5G 和 B5G 对 AV 的影响以及 AV 中设想的安全问题。该白皮书还全面介绍了 5G AV 技术标准化活动和项目的最新发展。文章还提供了经验教训、存在的挑战和未来的研究方向，以促进 5G 及以后时代 AV 技术的发展。