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As a Level 4 sub-trip feature (as defined in ISO TS 22736), HMCS performs the entire dynamic driving task (DDT) on the portion of a trip on an access-restricted motorway that satisfies its operational design domain (ODD) constraints. On approaching ODD boundaries HMCS prepares the user to re-engage in the DDT. If the user fails to take over, HMCS performs a minimal risk maneuver (MRM). This document defines the minimum functional requirements and test procedures for HMCS. HMCS can be featured in different forms or allow different non-driving related tasks. This document refers to the ISO 23792-x set of standards for the required driving performance in reference to the designed maneuvers and to the ISO 23793-x set of standards for minimum requirements with regard to the execution of MRM. This document applies to HMCS installed in light-duty vehicles.