The objective of the Safari project is the development and practical testing of the interaction between automated and connected driving and cooperative infrastructure. The starting point is the “view” of AVF vehicles on their environment. While driving situations in the area of federal highways are mostly clearly structured, in inner-city driving situations an almost infinite number of challenging tasks emerge, which are often at the edge of what can be accomplished by the vehicles (edge cases). The tasks can be facilitated by providing highly accurate maps (HD maps).