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Making Bertha Drive - An Autonomous Journey on a Historic Route. - Julius Ziegler; Philipp Bender; Markus Schreiber; Henning Lategahn; Tobias Strauss; Christoph Stiller; Thao Dang 002; Uwe Franke; Nils Appenrodt; Christoph Gustav Keller; Eberhard Kaus; Ralf G. Herrtwich; et al. (IEEE Intell. Transp. Syst. Mag., 2014)