Abstract: A transportation system for autonomous vehicles may include a control system configured to determine respective vehicle trajectories for respective autonomous vehicles and to provide the respective vehicle trajectories to the respective autonomous vehicles. The transportation system may also include a pair of roadways extending alongside one another and physically divided from one another, a first roadway of the pair of roadways configured for vehicle travel in a first direction, and a second roadway of the pair of roadways configured for vehicle travel in a second direction opposite the first direction, a boarding zone that is vertically separated from the pair of roadways and includes a set of boarding slots configured to receive autonomous vehicles, and a mixing zone adjacent the set of boarding slots and configured to allow vehicle access to the set of boarding slots for vehicles from the first roadway and the second roadway.