A transition to V2G is hampered by many barriers, such as battery degradation and high investment cost. A dramatic shift towards autonomous vehicles (AVs) in the future transport system drastically changes the conditions for a transition to V2G, potentially resulting in a more flexible V2G system that efficiently deals with bidirectional flows between AVs and the electricity grid and the transport of passengers. Despite the beneficial effects AVs might have on a V2G transition, there is a lack of scientific research into the joint development of these technologies. This research bridges this knowledge gap by exploring the potential effects of autonomous battery electric vehicles on the performance of V2G for two scenarios: privately-owned unshared AVs and fleet-owned shared AVs. While privately-owned unshared AVs are expected to not have significant effects, fleet-owned shared AVs in combination with charging hubs are expected to enhance the performance of V2G because the ability to provide spinning reserve improves, the investment cost of the charging infrastructure decreases, negative impact on the distribution network can be controlled, and range anxiety disappears. However, uncertainties related to the potential revenues of some drivers and the impact of V2G on battery degradation remain an issue and require further research. In addition, the development of fleet-owned shared AVs is expected to include an on-demand business model that maximises the utilisation rate of AVs for mobility services because the value of renting out the vehicle is much higher than the value of V2G. If the final development path would contain this business model, the priority for V2G would be minimised which would create a new, insurmountable barrier that destroys the business case for V2G systems.