National Highway Traffic Safety Administration (NHTSA) has estimated that Vehicle-to- Vehicle (V2V) systems will help to eliminate about 13% of traffic accidents. This will prevent about 439,000 auto crashes and save up to 1,000 lives in the US each year (see https : //www.nhtsa. gov/sites/nhtsa.gov/files/documents/v2v_pria_12-12-16_clean.pdf). The maximum benefit will be seen when almost all vehicles can communicate with each other, and the system eliminates human errors. To get to that state, government bodies such as the NHTSA, the automobile industry, and the technology and telecommunication industry will have to work together, along with consumers. Eventually, even cyclists and pedestrians may be able to use and benefit from similar technology. In this chapter, we will cover the following topics: A background on AVs and their concepts The high-level architecture of AVs AV intercommunication 5G V2X Let's get started! A background on CAVs and their concepts Let us begin with the concept of CAVs. Technology allows vehicles to talk to each other, as well as the infrastructure surrounding them. A connected car can enhance the driver's experience. 5G and Autonomous Vehicles The connectivity can be through 5G or prior generations. General Motors (GM) and AT&T are working together to provide 5G-equipped automobiles by 2024 https //www.fiercewireless. com/5g/at-t-marks-first-5g-connected-car-deal-gm). There were an estimated 236 million connected cars on the road as of 2021 (source: statista.com/statistics/1155517/global-connected-car-fleet-by-market/). A CAV can enhance safety, reliability, and security, as well as offering improved infotainment options. In a CAV, the driver has ultimate control over the vehicle. The 5G network provides much-needed low-latency connectivity to CAVs. 5G will facilitate the use of network slices to this end. 5G will also allow the deployment of appropriate private mobile networks in industrial and commercial complexes. Let us look at the details of V2V communication. It can provide the