The OPA3L System and Testconcept for Urban Autonomous Driving. - Andreas Folkers; Constantin Wellhausen; Matthias Rick; Xibo Li; Lennart Evers; Verena Schwarting; Joachim Clemens; Philipp Dittmann; Mahmood H. Shubbak; Tom Bustert; Gabriel Zachmann; Kerstin Schill; et al. (ITSC, 2022)