West Ham star Antonio was rushed to hospital after being cut out of his Ferrari following the accident in Epping last weekend.
The 34-year-old needed surgery on a lower limb fracture and is reported to be facing weeks in hospital recovering from multiple injuries.
Antonio was able to speak to his team-mates via a video call from his hospital bed before they beat relegation rivals Wolves 2-1 on Monday.
West Ham players wore 'Antonio 9' shirts while warming up at the London Stadium, with Jarrod Bowen holding up his team-mate's shirt after scoring the crucial winner.
"We are going to visit him today or tomorrow," Lopetegui told reporters on Friday ahead of Monday's Premier League trip to Bournemouth.
"But the main thing is we are very happy because he is recovering very well. We are very close to him and his family and we wish him the best for the next days.
"The best news about Michail Antonio was that he was able to talk with us before the Wolves match, because looking at the car crash, it was one miracle he was ok, so we are happy for him.
"Now for sure he is strong, he is recovering himself in the next months to be a man first and then a player."
© 2024 AFP