A method for handling handoffs of a pick-up/drop-off zone, PDZ, between autonomous vehicles, the method comprising: locating (306; 405), by one or more hardware processors of a machine, a PDZ based on a stopping location of a first autonomous vehicle (102-1); generating (310; 415), by the one or more hardware processors of the machine, based on satisfaction of one or more criteria, a request for the first autonomous vehicle to remain stopped at the stopping location, the generating of the request including determining an amount of time for the first autonomous vehicle to remain stopped at the stopping location; and transmitting (312; 420), to a vehicle autonomy system of the first autonomous vehicle, the request to remain stopped at the stopping location, the request specifying the amount of time for the first autonomous vehicle to remain at the stopping location, the method further comprising: identifying (316; 425) a second autonomous vehicle to claim the PDZ based on a target location of the second autonomous vehicle; receiving (330; 810), from a vehicle autonomy system of the second autonomous vehicle, an indication of arrival of the second autonomous vehicle at the PDZ; and in response to receiving the indication, transmitting (332; 810), to the vehicle autonomy system of the first autonomous vehicle, the indication of arrival of the second autonomous vehicle at the PDZ, the vehicle autonomy system of the first autonomous vehicle being configured to cause the first autonomous vehicle to vacate the stopping location in response to receiving the indication in order to create an opportunity for the second autonomous vehicle to claim the PDZ. locating (306; 405), by one or more hardware processors of a machine, a PDZ based on a stopping location of a first autonomous vehicle (102-1); generating (310; 415), by the one or more hardware processors of the machine, based on satisfaction of one or more criteria, a request for the first autonomous vehicle to remain stopped at the stopping location, the generating of the request including determining an amount of time for the first autonomous vehicle to remain stopped at the stopping location; and transmitting (312; 420), to a vehicle autonomy system of the first autonomous vehicle, the request to remain stopped at the stopping location, the request specifying the amount of time for the first autonomous vehicle to remain at the stopping location, the method further comprising: identifying (316; 425) a second autonomous vehicle to claim the PDZ based on a target location of the second autonomous vehicle; receiving (330; 810), from a vehicle autonomy system of the second autonomous vehicle, an indication of arrival of the second autonomous vehicle at the PDZ; and in response to receiving the indication, transmitting (332; 810), to the vehicle autonomy system of the first autonomous vehicle, the indication of arrival of the second autonomous vehicle at the PDZ, the vehicle autonomy system of the first autonomous vehicle being configured to cause the first autonomous vehicle to vacate the stopping location in response to receiving the indication in order to create an opportunity for the second autonomous vehicle to claim the PDZ. identifying (316; 425) a second autonomous vehicle to claim the PDZ based on a target location of the second autonomous vehicle; receiving (330; 810), from a vehicle autonomy system of the second autonomous vehicle, an indication of arrival of the second autonomous vehicle at the PDZ; and in response to receiving the indication, transmitting (332; 810), to the vehicle autonomy system of the first autonomous vehicle, the indication of arrival of the second autonomous vehicle at the PDZ, the vehicle autonomy system of the first autonomous vehicle being configured to cause the first autonomous vehicle to vacate the stopping location in response to receiving the indication in order to create an opportunity for the second autonomous vehicle to claim the PDZ. <EOS>