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There will probably be (at least) 2 wireless communication systems at play.
One will run from cell or satellite for a WAN connection to the manufacturer's AI where databases will store heaps of data. The AI will compute improvements to driving behavior and send those updates back to the vehicles. These will be targeted to specific geographic location, vehicle model, and perhaps even take into account individual considerations. A crash that closes down a road will be reported to the AI, and then vehicles in that geographic location will receive updates to avoid that route. Even things like potholes or other road hazards of note will be stored in a database and distributed to vehicles. All of the data will be encrypted to preserve the intellectual property and prevent malicious or unapproved updates to the vehicle.
The other wireless communication will be shorter range and a universal protocol, with all nearby vehicles able to send and receive info such as current location, heading, speed, intentions, etc. A basic standard of operation will need to be adopted so that cars can mesh through an intersection without causing undue disruption to traffic flow. An ambulance for instance will have the highest priority, and all vehicles will adjust their behavior to accommodate the ambulance. In normal operation though, each car will be given the same priority, so behavior through an intersection for instance will distribute the wait or slowdown evenly between the other vehicles. The longer a vehicle waits or is slowed relative to surrounding cars, the higher the priority it will be given so that instead of being the vehicle to slow down to accommodate another vehicle going through the intersection, it will speed up, with the other cars slowing. Their priority status will fluctuate near to the average in this way.
Potential hazards could also be communicated to nearby vehicles. A dog running toward the street could be identified by the cameras in one car that isn't visible to others, but the hazard type, location, bearing, and speed could be disseminated to nearby vehicles so they can avoid the hazard despite not detecting it.
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