The EMS-Vision system of UBM for autonomous vehicles is realized as distributed system. Data processing and the expertise for controlling the submodules are concentrated in so-called experts of capabilities. There are capability experts for locomotion, perception and gaze control in the system. It is the task of a behavior decision module to use the capabilities of the vehicle, so that a mission plan, generated by a mission planning expert, is performed. The paper describes the explicit representation of capabilities and the functionality and modules implemented for behavior decision. At the end, the functioning of behavior generation is demonstrated with results obtained during an autonomous driving mission.