What knowledge and experience is currently available on the relation between connected and automated driving and infrastructure? Rijkswaterstaat, Ministry of Infrastructure and the Environment in The Netherlands commissioned the TU Delft to explore this and create an overview. The resulting report “State of the art on Infrastructure for Automated Driving” presents an international literature overview, taking into account both physical and digital infrastructure. In addition recent and current projects, initiatives and test sites for connected and automated driving are listed. A first attempt to map implications for infrastructure per automation level has been done as well as a summary of knowledge gaps and suggested future research directions.