In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared resources (e.g., intersections and parking slots) and the execution of mobility tasks (e.g., platooning and ramp merging). In this paper, we firstly introduce the general issues associated to coordination of autonomous vehicles, by identifying and framing the key classes of coordination problems. Following, we overview the different approaches that can be adopted to manage such coordination problems, by classifying them in terms of the degree of autonomy in decision making that is left to autonomous vehicles during coordination. Finally, we overview some further peculiar challenges that research will have to address before autonomously coordinated vehicles can safely hit our streets.

中文翻译：

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自动驾驶汽车的协调：分类和调查

在不久的将来，我们的街道将充斥着无数自动驾驶汽车，以满足我们多样化的出行需求。这将需要协调他们的行动，以便正确处理对共享资源（例如交叉路口和停车位）的访问和移动任务的执行（例如，编队和匝道合并）。在本文中，我们首先通过识别和构建协调问题的关键类别来介绍与自动驾驶汽车协调相关的一般问题。接下来，我们概述了可用于管理此类协调问题的不同方法，根据协调过程中留给自主车辆的决策自主程度对它们进行分类。最后，