The integration of automated and connected vehicles on our existing road network is expected to impact traffic efficiency and safety. This upcoming new reality causes road operators, researchers, and policy makers to raise critical questions on the requirements and implications of automated and connected vehicles on the road infrastructure. We present a state of the art on this topic while considering both the digital and the physical infrastructure. A considerable research effort exists with respect to the digital infrastructure, while for the physical infrastructure it is scarce. Based on the state of the art, and a brainstorming workshop involving experts from different disciplines in the Netherlands, a detailed mind map is presented and recommendations for future research directions are suggested.