Intelligent and autonomous driving has been emerging as one of the most prominent advances in the industry of vehicles. Road vehicles including passenger cars and trucks as well as aerial vehicles like drones are expected to be capable of sensing their environment and moving safely with little or no human input, thereby making people’s daily lives safer, more efficient, and more convenient. Connectivity is considered as a key component in enabling such an advance, and 5G has been designed from its beginning as a communication tool for intelligent and autonomous vehicles. 5G’s high data rate is suitable to deliver rich map and sensor information to the vehicles in order to enhance environment sensing. Support of ultra reliability and low latency communications (URLLC) in 5G allows the vehicles to send and receive critical information that should be delivered with a very short latency and almost zero error for the safe decision of vehicles’ maneuver and reaction to an emerging risk. There are a lot of efforts to launch successful commercialization of 5G-based intelligent/autonomous vehicles, and in parallel with it, evolution is ongoing towards Beyond-5G in the standardization organizations and academia to find out technical solutions that can address the industry requirements better.