This paper describes an implemented design of an autonomous vehicle used in precision agriculture for weed and crop map construction with special focus on the onboard controlsystem, the embedded system and the datacommunication system. The vehicle is four wheel driven and four wheel steered (eight DC motors in total) with dimension of approx. 1x1x1 meters. It is constructed with four simular wheel units each consisting of 2 DC motors and sensors for measuring wheel angle, wheel speed and momentum.