After participating in the DARPA Urban Challenge 2007, the Technische Universitat Braunschweig decided to continue the work in the field of autonomous driving and all related topics. With a focus on urban scenarios, a project called 'Stadtpilot' (translated: City Pilot) has therefore been initiated in 2008. The paper presents the goals of this project and gives an overview on the current status of the Stadtpilot localization system architecture, which aims to increase RTK availability in urban environments. Therefore, the main components of the system architecture, namely the localisation sensor data fusion and the environment information system are described. Another focus lies on reliability, due to the fact that autonomous driving is a safety critical application. Finally, first results of real driving tests in the city center of Braunschweig are presented.
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