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After the awareness-raising of recent years for coping with the global societal, economic and environmental challenges, the need for sustainable planning in the transport sector has become even more evident. Initiatives aiming at promoting sustainable and innovative mobility solutions, especially in urban areas where mobility needs are higher and transport problems are more intense, have been launched by different organizations around the world. In this context, autonomous electric vehicles are emerging as a promising solution; however, they are accompanied by new infrastructure requirements, along with safety concerns. Policymakers will be confronted with an array of choices, such as plug-in or wireless, dynamic or stationary charging and mixed flow with conventional vehicles or dedicated lanes, taking into account the uncertain impacts of innovation on safety and sustainability. Within this scope, these infrastructure alternatives are evaluated and prioritized, for the first time, in the present study, through the combined application of two hybrid multi-criteria analysis models, with the participation of experts. The analysis is based on a set of safety and sustainability criteria. Road safety and exposure to electromagnetic radiation emerge as the most important criteria, with the optimum solution—based on current data—consisting of plug-in charging and the circulation of autonomous electric vehicles in dedicated lanes.