Autonomous vehicles will never take off if the prerequisite is to first create a centralized traffic control system. What I think we'll see instead is autonomous vehicles taking cues from human driven vehicles via the V2V (vehicle to vehicle) communication system that will roll out in the next few years.
Tesla's vehicle already kinda does this. They used the car's GPS units to build a map of highway lanes, based on how the humans drove them, and then feed this map into their autonomous system. One can easily imagine that auto makers will continue to use shortcuts like this; perhaps a car will realize that it needs to divert around construction once it observes so many of the surrounding vehicles doing it.
When one considers what kind of behavior may emerge from this type of vehicular flocking, its easy to imagine a lot of strange and unintended consequences. Perhaps a centralized authority will eventually come about, whose job it is to manage the data that is sent to cars and massage out strange behaviors. I predict that such a thing is far in the future however, in the meantime a true autonomous vehicle will have to be able to figure out a heck of a lot of stuff on its own.