Autonomous driving technology has been significantly developed in the last years. However, several issues must be addressed to make it universally accepted. Through a literature review, this paper summarizes the existing research on the role of human-machine interfaces (HMIs)on users’ acceptance in autonomous vehicles from the perspective of interaction design. First, the paper reviews the fundamental changes in the way users interact with autonomous vehicles focusing on: (i) the transfer of vehicle control between human drivers and artificial intelligence; (ii) the user experience of non-drivingrelated tasks (NDRTs); (iii) autonomous driving in public transportation; (iv) the impact of external HMI on vulnerable road users (VRUs). Then, the paper analyzes the concept of acceptability and describes the existing user acceptance model. Finally, the paper examines the future challenges for promoting a deeper exploration of the potential of autonomous vehicle interfaces design and proposes areas worthy of research to increase the user's acceptance of this technology.