This document describes the concept and goals of smart transportation by autonomous vehicles on public roads. It provides guidelines for the successful introduction and organisation of autonomous vehicles, with the aim of enhancing safety of public road transportation and addressing city challenges such as aging population and diverse travel demands. This document focuses on the deployment of autonomous vehicles as an operational system for actual use on public roads with indispensable arrangements thereabout. This document is provided to academia, autonomous vehicle developers, policy makers, research institutions, road infrastructure operators, public road administrators, testing inspection and certification bodies, and vehicle manufacturers.