M3CAD: Towards Generic Cooperative Autonomous Driving Benchmark

Abstract

We introduce M${}^3$CAD, a comprehensive benchmark designed to advance research in generic cooperative autonomous driving. M${}^3$CAD comprises 204 sequences with 30,000 frames. Each sequence includes data from multiple vehicles and different types of sensors, e.g., LiDAR point clouds, RGB images, and GPS/IMU, supporting a variety of autonomous driving tasks, including object detection and tracking, mapping, motion forecasting, occupancy prediction, and path planning. This rich multimodal setup enables M${}^3$CAD to support both single-vehicle and multi-vehicle cooperative autonomous driving research. To the best of our knowledge, M${}^3$CAD is the most complete benchmark specifically designed for cooperative, multi-task autonomous driving research. To test its effectiveness, we use M${}^3$CAD to evaluate both state-of-the-art single-vehicle and cooperative driving solutions, setting baseline performance results. Since most existing cooperative perception methods focus on merging features but often ignore network bandwidth requirements, we propose a new multi-level fusion approach which adaptively balances communication efficiency and perception accuracy based on the current network conditions. We release M${}^3$CAD, along with the baseline models and evaluation results, to support the development of robust cooperative autonomous driving systems. All resources will be made publicly available on https://github.com/zhumorui/M3CAD

Accepted to ICRA 2026