Abstract
This study aims to unveil what requirements the introduction of Connected and Automated Vehicles (CAVs) will have for the Physical and Digital Road Infrastructure (PDI) on public roads. The study is based on a literature review of reports from research and innovation projects combined with literature from academic databases. The findings indicate that supporting CAVs with an adapted public PDI will be beneficial for the CAV industry and required for authorities. Most requirements concern the digital infrastructure, emphasising technologies for improved perception, oversight, control, positioning, and navigation. Requirements for the physical infrastructure concern adaptions for avoiding conflicts with other road users. Standardisation of the PDI requirements and the information representing the real world is a critical issue to solve before fully introducing CAVs. The information needed to define and extend CAVs’ Operational Design Domain (ODD) will be crucial for continuous driving in an automated mode.