The Institute of Measurement, Control and Microtechnology at Ulm University investigates advanced driver assistance systems for decades and concentrates in large parts on autonomous driving. It is well known that motion planning is a key technology for autonomous driving. It is first and foremost responsible for the safety of the vehicle passengers as well as of all surrounding traffic participants. However, a further task consists in providing a smooth and comfortable driving behavior. In Ulm, we have the grateful opportunity to test our algorithms under real conditions in public traffic and diversified scenarios. In this paper, we would like to give the readers an insight of our work, about the vehicle, the test track, as well as of the related problems, challenges and solutions. Therefore, we will describe the motion planning system and explain the implemented functionalities. Furthermore, we will show how our vehicle moves through public road traffic and how it deals with challenging scenarios like e.g. driving through roundabouts and intersections.
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