To accelerate computer vision research and innovation for Vehicle-Infrastructure Cooperative Autonomous Driving (VICAD), we release DAIR-V2X Dataset, which is the first large-scale, multi-modality, multi-view dataset from real scenarios for VICAD. Furtherly, we introduce the Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) task, which formulate the problem of cooperatively locating and identifying 3D objects using sensory inputs from both vehicle and infrastructure. To resolve the VIC3D object detection task and facilitate future research, we also introduce our VIC3D object detection benchmark as well as an extensive 3D detection benchmark for those who are interested in Single-View (SV) 3D detection tasks. In order to facilitate researchers to use the dataset and reproduce the entire benchmark, we open source the OpenDAIRV2X, towards serving VICAD research community.