Dickmanns and Mueller 1995 : The development of autonomous visual guidance of land vehicles at UniBwM is reviewed. An initial breakthrough in performance level has been achieved in 1986 by combined differential/integral representations of the road skeleton and the vehicle state in conjunction with recursive estimation techniques (4-D approach). Feedback control laws allowed easy implementation of reactive behavioral competences; complementing this approach by generic feed-forward control time histories for several mission elements introduces the capability for mission performance. Lane changes, turn-offs and handling road forks are the most essential ones; in conjunction with the capability of landmark recognition and digital map reading this allows the autonomous performance of entire missions. Recently developed capabilities of our test vehicle VaMoRs are discussed.