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Over the past century, landmark advancements in vehicle technology have motivated road agencies to carry out changes in their road infrastructure design and management processes to accommodate these advancements. The advent of Autonomous Vehicles (AVs), however, poses infrastructure challenges that could be more profound compared to those faced in the past. This study first discusses AV issues and concepts that could influence the scope and types of roadway infrastructure design and management in the AV era. These issues include AV technology readiness, the levels of vehicle autonomy, the stages of AV operations, and stakeholder roles. The study discusses AV demand forecasts and related factors and identifies the stakeholder perspectives regarding infrastructure readiness. The study indicates that the transition period (characterized by a mixed traffic environment of AVs and HDVs) will last for several decades, and that any infrastructure design changes should be based only on the party (AVs vs. HDVs) whose physical or operational features require designs that are more conservative compared to the other party.