Automated driving on public roads: Experiences in real traffic

Abstract Automated driving on public roads is affected by many foreseeable and unforeseeable driving situations. Depending on the driving task, the environmental and road conditions, and the behavior of other drivers, different actions have to be taken. This paper provides a high-level overview of the development of highly automated driving systems and illustrates challenging situations and use cases. We outlined the impact of these use cases on system design, key technologies, and their technical realization for a highly automated driving system. Furthermore, the paper demonstrates how certain aspects of the system design as well as their implementation are country specific and how continuous testing is required for robust implementation of the functionalities.