Do AVs need smooth roads and clear signage?

Human drivers are well accustomed to today’s road conditions. Any typical commuter that drives to work daily could, after even just a few months, point out exactly where each and every pothole, obscured traffic signal or fading road sign is on their route to and from the office. Human drivers are more than capable of driving safely despite these issues, but is there a guarantee that an autonomous vehicle (AV) could show similar flexibility?