One or more autonomous street sweeper vehicles can perform a variety of sweeping functions, such as sweeping, vacuuming, blowing, and scraping. Each autonomous street sweeper vehicle can be designed to follow routes and can comprise an autonomous vehicle that includes a drive by wire kit, a database storing the routes, a detection mechanism, and a control system that controls the vehicle to follow the routes while maintaining serviceable distances to the curb. In a convoy of multiple autonomous street sweeper vehicles, the vehicles in the convoy can communicate with each other, and each of the autonomous street sweeper vehicles can perform a different function. In some examples, a speed of the vehicle and/or settings of the cleaning equipment can be adjusted, for example, based on road hazards or amount of debris.