  In November 2007 the international competition DARPA Urban Challenge took
place on the former George Airforce Base in Victorville, California to
significantly promote the research and development on autonomously driving
vehicles for urban environments. In the final race only eleven out of initially
89 competitors participated and "Boss" from Carnegie Mellon University
succeeded. This paper summarizes results of the research carried out by all
finalists within the last five years after the competition and provides an
outlook where further investigation especially for software engineering is now
necessary to achieve the goal of driving safely and reliably through urban
environments with an anticipatory vehicle for the mass-market.
