This study aims to investigate people’s perceptions and opinions on Autonomous Vehicles (AVs) and the key factors that influence their Behavioral Intention (BI) to purchase and use AVs. Data were sourced from the 2019 California Vehicle Survey to explore the determinants of AV purchase. A Structural Equation Model (SEM) of stated intentions is estimated to validate a theoretical framework drawn on relevant bodies of literature. The descriptive statistics show that many people are already aware of AVs. Many people also think that traveling by AVs is enjoyable, safe, and effective, although some of them would miss the joy of driving and would not entrust a driverless AV to shuttle their children. Results from the SEM indicate that being working-age adults, having children, household income, per capita income, and educational attainment are attributes positively associated with AV purchase intention. Similarly, psychological factors (e.g., perceived enjoyment, usefulness, and safety), prior knowledge of AVs, and experience with emerging technologies (e.g., electric vehicles) significantly enhance BI to purchase AVs. This study finds that family structure and psychological factors are the most influential factors of AV purchase intention, and more so than the built environment, transportation, and other socioeconomic factors.