Autonomous vehicles are currently developed, and are expected to be introduced gradually. Society needs a basis for decisions regarding market interventions. This study identifies, quantifies and values the benefits and costs of autonomous trucks and cars considering generalized costs, external effects and social marginal cost pricing to consumers with Swedish data. The results show that the greatest benefits are saved driver costs for trucks and decreased travel time costs for car drivers. In the example calculations, capital costs may increase by 22 percent for cars and 36 percent for trucks for benefits to exceed costs in 2025. Subsidies are not needed since the producers and consumers get the major benefits and pay the costs. Journal of Transportation Technologies driver costs for both trucks and cars. The applied methodology is common for evaluating infrastructure investments; in this study it is applied to the introduction of a new technology for transportation. We use today's knowledge to quantify the magnitude of benefits and costs related to AVs.The purpose of the study is to estimate the relative importance of identified effects of autonomous trucks and cars, the distribution of effects, and whether benefits are greater than costs, by using theory, previous studies and the unit values for transportation costs applied in Sweden. In an example calculation, some studied alternatives based on Swedish statistics and forecasts are compared with a reference scenario. A number of assumptions about effects are altered in a sensitivity analysis to find out which effects are crucial.The real effects of creating or using resources, excluding any redistribution effects, based on changes in generalized cost are presented. We consider whether social marginal cost pricing to consumers prevails on the markets concerned, both to estimate all effects accurately and to be able to analyse how the effects for society as a whole and the effects for producers and consumers on the transport markets are interrelated. Based on the latter, it is possible to discuss the policy implications of the result. To our knowledge, no such holistic approach has been applied to quantify the benefits and costs of both freight and passenger transportation on the road. Few studies appear to have aimed to quantify and value the effects on society as a whole including the saved resources for driving cars and trucks. SAE International [1] has developed taxonomy for driving automation. Lower levels (1 and 2) are already implemented in many modern vehicles with driver assistance and partial automation. Level 3 is an intermediate state with driving automation, where the driver is required to intervene in critical situations. Levels 4 and 5 represent high or full driving automation. We construct a reference alternative where all vehicles develop to level 2, manually driven vehicles (MDV), and compare this to studied alternatives where AVs with full automation are introduced. Level 3 is assumed transitory, since several car producers, as Ford and Volvo,...