This paper introduces a common database, an evaluation framework, and its baseline recognition results for in-car speech recognition, CENSREC-3, as an outcome of the IPSJ-SIG SLP Noisy Speech Recognition Evaluation Working Group. CENSREC-3, which is a sequel to AURORA-2J, has been designed as the evaluation framework of isolated word recognition in real car-driving environments. Speech data were collected using two microphones, a close-talking microphone and a hands-free microphone, under 16 carefully controlled driving conditions, i.e., combinations of three car speeds and six car conditions. CENSREC-3 provides six evaluation environments designed using speech data collected in these conditions.