The Berlin Racing Team of the 2007 Urban Grand Challenge Competition is using the Orocos Real-Time Toolkit as framework for building software components. They are one of the semifinalists selected by DARPA. There is an impressive movie (84MB) of this car in action.
You can read more about the use of Orocos on their website. See also their main page for a full overview of this project.
The core of the team consists of researchers and students of Freie Universität Berlin working together with partners from the Fraunhofer Gesellschaft (IAIS), and Rice University in Houston, Texas.