Proposal to amend UN R163 by introducing supplement 4 to extend application to vehicles of categories X and Y, and vehicles with manual mode operating above 6 km/h equipped with an Automated Driving System. The amendment intends to keep the spirit of the Regulation while extending application to vehicles without a driver and without manual driving controls. In case of vehicles equipped with an ADS, no special provisions or exemptions apply. The document is intended to amend and supersede ECE/TRANS/GRSG/2026/15.