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Connected and autonomous vehicles (CAVs) have recently attracted a significant amount of attention both from researchers and industry. Numerous studies targeting algorithms, software frameworks, and applications on the CAVs scenario have emerged. Meanwhile, several pioneer efforts have focused on the edge computing system and architecture design for the CAVs scenario and provided various heterogeneous platform prototypes for CAVs. However, a standard and comprehensive application benchmark for CAVs is missing, hindering the study of these emerging computing systems. To address this challenging problem, we present CAVBench, the first benchmark suite for the edge computing system in the CAVs scenario. CAVBench is comprised of six typical applications covering four dominate CAVs scenarios and takes four datasets as standard input. CAVBench provides quantitative evaluation results via …