Automated driving has become an important research trend in the field of cooperative intelligent transportation systems and their applications in smart cities. Automated driving both increases road capacity and eliminates human errors, one of the most common reason of traffic accidents. Both these aspects influence significantly the quality of life, which is a major goal of smart city initiatives. Management of automated vehicles by urban road infrastructure is a rather new subject and not so much practical development has been reported yet. Unfortunately, the available information is spread over fragments within other resources dealing with automated vehicles. In this paper, we provide an overview of major functionalities that have to be provided by both road infrastructure and an automated vehicle so that the vehicle can optimally navigate through an urban network with signalized intersections and we review the state-of-the-art publications providing approaches relevant to these core functionalities.