PURPOSES : An automated driving guidance framework was developed for automated vehicles based on cooperation between infrastructure and automated vehicles. The proposed automated driving guidance framework is assumed to function only when an automated vehicle encounters situations in which it cannot safely pass through without cooperation with the infrastructure. METHODS : A four-step concept of automated driving guidance levels was employed, and the decision criteria, such as moving object, event, and externality, were defined as the criteria for determining the automated driving guidance level. The judgment criteria of each stage and procedure for determining the autonomous driving guidance level were determined based on successive judgments, and the proposed automated driving guidance framework was designed based on an expert survey. The survey was aimed at experts with experience related to automated driving system research or technology development. RESULTS : The resulting framework shows the steps and criteria for determining whether automated driving guidance is required under a specific situation and what the guidance should be. CONCLUSIONS : The proposed automated driving guidance framework is designed to function only when an automated vehicle encounters situations in which it cannot safely pass through without cooperation with the infrastructure.