I think it'll be hybrid i.e. intelligence sharing between car and central signaling. I'm thinking the equivalent of red/green lights but signaled electronically, not visually.
Here's a job description for software eng in Boring Company:
The Boring Company - Software Engineer
It says:
Responsibilities
- Iterate and optimize the traffic control algorithms to achieve maximum system efficiency.
- Design and develop software to allow for complete autonomous operations within tunnel transportation.
- Implement safe and reliable vehicle control algorithms to achieve full autonomy.
- Architect and implement high quality code for safety critical controls to run all aspects of traffic controls.
This implies there will be a centralized traffic control but I also think that it'll be designed to co-operate with autopilot software in the car, not fully replace it.