Autonomous vehicles are currently developed, and are expected to be introducedgradually. Society needs a basis for decisions regarding market interventions.This study identifies, quantifies and values the benefits and costs ofautonomous trucks and cars considering generalized costs, external effectsand social marginal cost pricing to consumers with Swedish data. The resultsshow that the greatest benefits are saved driver costs for trucks and decreasedtravel time costs for car drivers. In the example calculations, capital costs mayincrease by 22 percent for cars and 36 percent for trucks for benefits to exceedcosts in 2025. Subsidies are not needed since the producers and consumersget the major benefits and pay the costs.