This descriptive paper of qualitative approach aimed at understanding whether the Quintuple Helix Model (QHM) can positively foster advancements on urban mobility from AVs' insertion in the society, as well as discuss the dynamic of the QHM in the Brazilian context. Synergy among agents proposed by the model is essential for minimizing the impacts on innovation development. It is necessary to understand AVs' development not only as a technological innovation that will bring comfort to society, but rather to realize that this radical innovation can transform the future of urban mobility worldwide. In a Brazilian context, we observed that the country needs to improve in many aspects in order to carry on the future of urban mobility. Brazilians tend to be early technology adopters and the country has good mobile networks, but it will need to improve on regulations, local innovation and road quality to take advantage of AVs (KPMG, 2018). Finally, QHM can corroborate to such needed improvement and, our proposed theoretical framework could explain how this dynamic works.