Autonomous rides on public roads performed by a seeing road vehicle under normal traffic conditions have been demonstrated on German Autobahnen since the beginning of 1992. Meanwhile, the new goal of autonomous driving on roads of lower order has been approached by including the turn-off at intersections. Tests have been performed on a specially designed test track including curves with radii from 35-100 m and an intersection. This paper gives a short overview on the applied algorithms as well as the control structure of the system which was developed at the Universitat der Bundeswehr Munchen. A summary of experimental results for autonomous rides points out the applicability of the approach.