  This paper is concerned with the key features and fundamental technology
components for 5G New Radio (NR) for genuine realization of connected and
cooperative autonomous driving. We discuss the major functionalities of
physical layer, Sidelink features and its resource allocation, architecture
flexibility, security and privacy mechanisms, and precise positioning
techniques with an evolution path from existing cellular vehicle-to-everything
(V2X) technology towards NR-V2X. Moreover, we envisage and highlight the
potential of machine learning for further enhancement of various NR-V2X
services. Lastly, we show how 5G NR can be configured to support advanced V2X
use cases in autonomous driving.
