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：各类车辆自动化技术正越来越多地应用于多种环境，包括汽车或自动穿梭车等道路车辆、矿区或港口等封闭区域，以及农业和林业领域。在许多场景中，若多辆自动化车辆通过合作相互辅助以实现更高效的目标达成，或通过协作共同完成某项任务，则可获得更大收益。分类体系与定义构建了一个共同框架，有助于研究人员和实践者推动该领域发展。然而，现有研究大多聚焦于道路车辆。本文对相关分类体系与定义进行了综述与扩展，涵盖个体行动以及协同与合作型自动化车辆，兼顾道路与非道路应用场景。具体而言，我们引入了现有文献中尚未定义的协作型车辆类别，并针对自动化功能除驾驶任务外还涉及其他附加功能的车辆，定义了相应的自动化等级。