If you don't have duplicates (id), you should not have problems:
mysql> SELECT VERSION();
+-----------+
| VERSION() |
+-----------+
| 5.7.17    |
+-----------+
1 row in set (0.00 sec)
mysql> DROP TABLE IF EXISTS `userinfo`;
Query OK, 0 rows affected (0.01 sec)
mysql> CREATE TABLE IF NOT EXISTS `userinfo` (
    ->   `id` INT(11) NOT NULL
    -> );
Query OK, 0 rows affected (0.00 sec)
mysql> INSERT INTO `userinfo`
    ->   (`id`)
    -> VALUES
    ->   (1),
    ->   (2),
    ->   (3),
    ->   -- (1),
    ->   (10),
    ->   (11),
    ->   (15),
    ->   (20),
    ->   (182),
    ->   (191);
Query OK, 9 rows affected (0.00 sec)
Records: 9  Duplicates: 0  Warnings: 0
mysql> ALTER TABLE `userinfo`
    ->   CHANGE `id` `id` BIGINT(20) NOT NULL
    ->   PRIMARY KEY AUTO_INCREMENT;
Query OK, 9 rows affected (0.00 sec)
Records: 9  Duplicates: 0  Warnings: 0
mysql> ALTER TABLE `userinfo` AUTO_INCREMENT = 201;
Query OK, 0 rows affected (0.00 sec)
Records: 0  Duplicates: 0  Warnings: 0
mysql> SHOW CREATE TABLE `userinfo`\G
*************************** 1. row ***************************
       Table: userinfo
Create Table: CREATE TABLE `userinfo` (
  `id` bigint(20) NOT NULL AUTO_INCREMENT,
  PRIMARY KEY (`id`)
) ENGINE=InnoDB AUTO_INCREMENT=201 DEFAULT CHARSET=utf8mb4
1 row in set (0.00 sec)
In another case:
mysql> SELECT VERSION();
+-----------+
| VERSION() |
+-----------+
| 5.7.17    |
+-----------+
1 row in set (0.00 sec)
mysql> DROP TABLE IF EXISTS `userinfo`;
Query OK, 0 rows affected (0.01 sec)
mysql> CREATE TABLE IF NOT EXISTS `userinfo` (
    ->   `id` INT(11) NOT NULL
    -> );
Query OK, 0 rows affected (0.00 sec)
mysql> INSERT INTO `userinfo`
    ->   (`id`)
    -> VALUES
    ->   (1),
    ->   (2),
    ->   (3),
    ->   (1), -- Duplicate
    ->   (10),
    ->   (11),
    ->   (15),
    ->   (20),
    ->   (182),
    ->   (191);
Query OK, 10 rows affected (0.00 sec)
Records: 10  Duplicates: 0  Warnings: 0
mysql> ALTER TABLE `userinfo`
    ->   CHANGE `id` `id` BIGINT(20) NOT NULL
    ->   PRIMARY KEY AUTO_INCREMENT;
ERROR 1062 (23000): ALTER TABLE causes auto_increment resequencing, resulting in duplicate entry '1' for key 'PRIMARY'