In the last decades science in a variety of domains did an impressive amount of research in the field of cooperative and cognitive technical systems. This paper focuses on the domain of (air and ground) vehicle guidance and control and presents selected milestones in this field: Beginning with autonomous vehicles and cognitive pilot support systems, sketching the H-Metaphor and the H-Mode and synthesising it to a cooperative guidance and control of cognitive systems, technically realised by a cognitive core and future standardized cognitive architectures. The paper ends with speculations about future developments in the field of cognitive and cooperative vehicle guidance and control.