The amendment extends application to vehicles of categories X and Y and vehicles with manual mode operating at speeds above 6 km/h equipped with an Automated Driving System. The regulation, originally drafted for vehicles with driver and manual driving controls, is extended to vehicles without driver and without manual driving controls inside the vehicle. For vehicles equipped with an ADS other than categories X and Y, special provisions or exemptions do not apply. Footnotes are amended to reference ECE/TRANS/WP.29/78/Rev. 8.