The transportation industry is experiencing a significant transformation due to the advancement of vehicle automation technologies. This transformation is marked by various levels of automation that represent major milestones along the path towards achieving fully autonomous driving. SAE International presents a classification scheme with detailed definitions for six levels of driving automation. Briefly, the levels of driving automation are determined by the extent to which the responsibility for driving shifts from the driver to the vehicle. While the shift in driving responsibilities introduces new paradigms and practices, existing road infrastructures and current road design guidelines have predominantly considered the human behaviour on manual driven vehicles.