Also bicycles, motorbikes, e-scooters, trams, trains, runaway objects...
I always thought that the city itself could be part of the swarm system. Roadside sensors could broadcast information to all relevant participants - such as "emergency vehicle incoming, move to the right lane, vehicles ID 123, 456 and 789 stop immediately" or "danger - static object at 45th km", or even "slow down/speed up to 60 km/h to optimize traffic flow".
In the science fiction of my youth, where roads or similar systems existed, there were cases where the infrastructure was part of the autonomous vehicle system. It was often car-exclusive, never mentioning pedestrians, mobility devices, or anything that wasn't motorized, but it was an interesting bit of speculation.
I always thought that the city itself could be part of the swarm system. Roadside sensors could broadcast information to all relevant participants - such as "emergency vehicle incoming, move to the right lane, vehicles ID 123, 456 and 789 stop immediately" or "danger - static object at 45th km", or even "slow down/speed up to 60 km/h to optimize traffic flow".