While there is not reference to the prisoner release speciaficly in the Road Map, it is primarily mentioned in the interim agreements post Oslo, which are followed up in the Wye River Memorandum and the Tenet work plan. In other wordw,
if the PA keeps its obligations to dismantle terror organizations and significatly reduce terror in cooperation with Israeli officials the prisoner release will proceed, but never are murderers to be released. this is stipulated in the plan itself.
See esp.:
2. The following categories of detainees and/or prisoners will be included in the abovementioned releases:
a. all female detainees and prisoners shall be released in the first stage of release;
b. persons who have served more than two thirds of their sentence;
c. detainees and/or prisoners charged with or imprisoned for security offenses not involving fatality or serious injury;
d. detainees and/or prisoners charged with or convicted of non-security criminal offenses; and
e. citizens of Arab countries being held in Israel pending implementation of orders for their deportation.
http://www.mfa.gov.il/mfa/go.asp?MFAH00qh0In other words, all the above criterion must be met.