Researchers and industrialists are working to propose user centric transportation services based on the development of autonomous systems. This paper deals with the evolution of human-machine cooperation processes within such a context. The concept of peer-to-peer cooperation is proposed. Contrarily to classical approaches, the suggested approach considers that an autonomous system is a peer, able to trigger cooperation needs with the human to reach its own objectives. This concept is applied to the maintenance of an autonomous train that cooperates with different maintenance actors. This chapter specifies and proposes first models with an ongoing implementation using augmented reality. An illustrative maintenance situation is finally discussed.