The auto focus works by detecting edges in an image. So the better that a lens is at transmitting edges the easier time the camera will have focusing. So in general the sharper the lens and more contrast it has the better the auto focus. There one other item that can make a difference some lens transmit distance information while other (mostly older) do not.
Note: auto focus normally occurs wide open so if a lens is soft wide open it can present a challenge for the focus system.
6D, 60D, Rebel XS, EF-S 15-85, EF 70-200f4L, EF 100f2.8L, Tamron 70-300VC, Tamaron 28-75f2.8, EF 40f2.8, EF 50f1.8, EF 85f1.8, EF 24mmf2.8IS EOS M 22f2, 18-55, EOS M-EF adapter, Nex6, SEL50f18, SEL1018, DN 30f2.8, adpaters and Fd and M42 lens.