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Various types of vehicle automation is increasingly used in a variety ofenvironments including road vehicles such as cars or automated shuttles,confined areas such as mines or harbours, or in agriculture and forestry. Inmany use cases, the benefits are greater if several automated vehicles (AVs)cooperate to aid each other reach their goals more efficiently, or collaborateto complete a common task. Taxonomies and definitions create a common frameworkthat helps researchers and practitioners advance the field. However, mostexisting work focus on road vehicles. In this paper, we review and extendtaxonomies and definitions to encompass individually acting as well ascooperative and collaborative AVs for both on-road and off-road use cases. Inparticular, we introduce classes of collaborative vehicles not defined inexisting literature, and define levels of automation suitable for vehicleswhere automation applies to additional functions in addition to the drivingtask.

A Unified Taxonomy for Automated Vehicles: Individual, Cooperative, Collaborative, On-Road, and Off-Road