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This document defines a standardized interface for vehicle motion control (VMC) in automated driving systems (ADS) for heavy commercial vehicle combinations (HCVCs). It covers vehicles with a towing unit and at least one non-steered drive axle, with or without trailers, but excludes trailers with active steering. This automation interface is aimed for automated driving systems, i.e., high driving automation (level 4) and full driving automation (level 5), that require an Automated Driving System-Dedicated Vehicle and Trailer (ADS-DV/T) with redundancy and vehicle safety. This standard only addresses the nominal motion control interface; redundancy considerations and safety-related functions are outside its scope. The ADS is responsible for managing the vehicle and trailer’s trajectory, including the swept path, to ensure successful navigation. The standard applies to heavy vehicles like trucks, trailers, and buses with specific weight classifications (above 3.5 tonnes for trucks and trailers, and above 5 tonnes for buses and articulated buses).