The first thing you should do is review the blog article on publishing for cd. While this article details instructions for Presenter 4, the concept is still the same in Presenter 5:
For autorun to work the published output needs to be at the root level of the cd, not in a folder. So if your CD-ROM is the D: drive the path should be D:\autorun.inf, not D:\my_presentation\autorun.inf.
If the directory structure of your CD is correct and autorun is still not working please refer to the Microsoft Support site KB article:
The AutoRun feature or the AutoPlay feature does not work when you insert a CD-ROM in the drive