In some embodiments, a device in a network receives vehicle characteristic data regarding one or more autonomous vehicles. Each autonomous vehicle of the one or more autonomous vehicles is equipped with a vehicle-based charging coil configured to receive electrical power from a ground-based charging coil of a wireless power transfer (WPT) system. The device, based on the received vehicle characteristic data, identifies one or more ground-based charging coils of the WPT system available to provide power to the one or more autonomous vehicles. The device determines driving parameters for the one or more autonomous vehicles to optimize power transfer from the one or more ground-based charging coils to the one or more autonomous vehicles. The device sends the driving parameters to the one or more autonomous vehicles to control movement of the one or more autonomous vehicles.