Guidance and interpretation document to facilitate application of GTR 26 and UN R185 on Automated Driving Systems to particular ADS vehicles, provide guidance on evidencing requirements, and harmonize application across manufacturers, authorities and inspection bodies. The document addresses definitions, application for approval, approval procedures, ADS performance of the Dynamic Driving Task in nominal, critical and failure situations, interactions between ADS and users, other ADS requirements, Safety Management System processes, test environment approaches, safety case structure, and post-deployment safety monitoring.