Fred W. Rauskolb Kai Berger Christian Lipski Marcus A. Magnor Karsten Cornelsen Jan Effertz Thomas Form Fabian Graefe Sebastian Ohl Walter Schumacher Jörn-Marten Wille Peter Hecker Tobias Nothdurft Michael Doering Kai Homeier Johannes Morgenroth Lars C. Wolf Christian Basarke Christian Berger Tim Gülke Felix Klose Bernhard Rumpe Caroline: An Autonomously Driving Vehicle for Urban Environments. 441-508 2009 The DARPA Urban Challenge http://dx.doi.org/10.1007/978-3-642-03991-1_11 conf/darpa/2009 db/conf/darpa/urban2009.html#RauskolbBLMCEFGOSWHNDHMWBBGKR09