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To operate an autonomous Vehicle in off-road terrain is one of the most difficult problems in Robotic . Since it is not possible to build a high resolution model (3d map) of an unstructured terrain, in particular of an industrial area or a construction site, a robot, driving through this terrain, has to be able to adapt its motion to the real world . In Dormer's experimental program for "Outdoor Robotic Applications" therefore a key function is real time obstacle detection and avoidance . In conjunction with a gyro-system and an optical tracker this function ensures a cross-country driving on a pre-planned path by surveying the real world . Using an active (time-of-flight) laserscanner a temporary 3d-image , consisting of 128 x 64 Voxels , is generated four times a second and real-time transformed into a 2d-obstacle-map. This map is used by the Navigation-computer to avoid obstacles while following the given path as close as possible.A prototype of this system has been tested under real conditions in field -tests already.