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Fifth Generation (5G) mobile technology is the latest generation of mobile networks that is being deployed to facilitate emerging applications and services. 5G offers enhanced mobile broadband, massive machine type communication, and ultra reliable low latency communication. Hence, the capabilities of 5G can be harnessed to satisfy the requirements of autonomous vehicles (AV). AVs are developed to offer comfort, safety and efficient driving. However, the capabilities of 5G are yet to be harness by AVs and related technologies. In response, this survey provides a comprehensive review on AVs in the 5G and beyond era. The paper provides a discussion on the current advancements in AVs, automation levels, enabling technologies and the requirement of 5G networks. Furthermore, the paper focuses on emerging technologies enabling the integration of 5G with AVs, the impact of 5G and B5G for AVs and the …