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This study focuses on a number of control and coordination aspects of autonomous navigation in real-life urban traffic. By expanding the inherent hierarchy of the hybrid-state system formulation, a highly-structured yet modular architecture was developed to connect various traffic elements. The feasibility of coordination under vehicle-to-vehicle and vehicle-to-infrastructure communication was investigated through experiments with multiple vehicles and roadside units. The necessary levels of situational awareness abstractions for different tiers of the proposed hierarchy were studied on stochastic hybrid-state system estimators.