Siedersberger and Dickmanns : Over the last years, the expectation based multifocal saccadic vision system (EMS- Vision) for autonomous vehicles has been developed. This not only required an adaptation and restructuring of vehicle guidance but also a development of enhanced abilities for locomotion. In the course of integration of vehicle guidance to the new system, the locomotion part received a new structure and has been extended. By means of the “Turn-Off” maneuver it is shown how single phases of a driving maneuver are triggered and how the transition conditions are generated. During a maneuver phase, command variables for the longitudinal and the lateral controller are generated. The locomotion unit is implemented on both test vehicles VAM0RS and VAMP of UBM. Only the hardware-specific part depends on the type of vehicle, otherwise, vehicle guidance is the same for both experimental vehicles.