Various types of vehicle automation is increasingly used in a variety of environments including road vehicles such as cars or automated shuttles, confined areas such as mines or harbours, or in agriculture and forestry. In many use cases, the benefits are greater if several automated vehicles (AVs) cooperate to aid each other reach their goals more efficiently, or collaborate to complete a common task. Taxonomies and definitions create a common framework that helps researchers and practitioners advance the field. However, most existing work focus on road vehicles. In this paper, we review and extend taxonomies and definitions to encompass individually acting as well as cooperative and collaborative AVs for both on-road and off-road use cases. In particular, we introduce classes of collaborative vehicles not defined in existing literature, and define levels of automation suitable for vehicles where automation applies to additional functions in addition to the driving task.

翻译：车辆自动化在各种环境中越来越多地使用，包括汽车或自动穿梭车之类的道路车辆、矿山或港口等受限区域，以及农业和林业。在许多用例中，如果几辆自动驾驶车辆（AV）相互协作以更有效地帮助彼此达到目标，或者协作完成共同任务，那么利益是更大的。分类法和定义创建了一个共同框架，有助于研究人员和从业者推进该领域。然而，大多数现有的工作重点放在道路车辆上。在本文中，我们回顾并扩展分类法和定义，以涵盖个体、合作和协作AV以及路上和路外用例。特别是，我们介绍了协作车辆的类别，这在现有文献中没有定义，并定义了适用于自动化适用于行驶任务之外的其他功能的车辆的自动化级别。