The purpose of this document is to provide guidance for developers of visual external communication systems for automated vehicles (AV), particularly Automated Driving System – Dedicated Vehicles (ADS-DV), as defined by SAE J3016.

The main objective of this document is to propose how ADS-DVs could communicate with other road users via an external communication system. It discusses the interaction between humans and ADS-DVs within roadway environments. Recommendations for the type of external visual communication messaging are presented along with the supporting methodological rationale.

This document does not address functionality elements of the ADS-DV external visual communication system itself. Rather, it serves to propose how the system communicates to human users such that it can be learned and understood by society at large.