It is not well understood how the imminent use of autonomous trucks for freight transportation would change the serviceability of our existing freight infrastructure. For instance, it is not clear if the current highways are maintained well enough to support the early adoption of autonomous trucks; it is not clear if new facilities will be needed to support the novel technologies that would be driving the autonomous trucks; it is also not clear how these need will evolve as autonomous trucking technologies. A careful study of existing literature, including research papers, technical reports, and news articles, was performed to categorize the currently available and under-development automated trucking technologies into various levels. This review was then used to establish a clear definition of autonomous trucking technologies. Next, elements of the current freight infrastructure system that are most likely to be impacted by autonomous trucking technologies were evaluated. The impacts were evaluated for three levels of autonomous trucking technologies. Also, potential challenges specific to each infrastructure element for the successful adoption of autonomous trucking technologies were identified. Based on the study, transportation infrastructure elements such as road signs and markings, parking, managed/dedicated lanes, inspection and maintenance infrastructure, transfer hubs, and roadside equipment were identified to be majorly impacted by the use of autonomous trucking technologies. The findings of this study are expected to be highly beneficial for freight infrastructure planners in formulating freight infrastructure development plans to facilitate the adoption of autonomous trucking technologies and maximize their benefits while minimizing their risks.