RE3 is an overarching document to facilitate harmonization and support the development of specific UN Regulations by providing uniform terms, references, and other guidance for general use. RE3 provides the guiding principles for the various rule categories by subsystem. The Resolution, via Annex 7 (including Amendment 4), provides definitions of vehicle categories, including in some cases, particular classes of vehicles within the categories. Annex 4 includes recommendations on market fuel quality and Annex 5 contains design principles for control systems of Advanced Driver Assistance Systems (ADAS).