The aim of this research project is to develop a system for object-relational navigation. This navigation approach is not to follow global trajectories in a previously created metric map, but to navigate relative to perceived objects ("at the third intersection left, past the tree at the second house right"). Furthermore, the integration of object features (prominent edges, textures, etc.) in the navigation should increase robustness compared to current approaches that only use abstract box models with artificial reference points. By linking navigation to perceived objects, a quick reaction to unexpected behaviors, such as the sudden departure of the vehicle on the neighboring lane, should be possible. On the other hand, plans such as: "Follow road, overtake vehicle X,..." are intended to reduce the complexity of plan generation and ongoing plan changes, especially in dynamic scenes.