For driver assistance systems, a thorough perception of the environment becomes more and more important. Often, sensor data fusion systems (typically comprising sensor such as radar and vision systems) are employed, to get an improved picture of the host vehicle’s surroundings. The SEFS project is part of the Swedish IVSS program. The project focuses on methods and architecture for fusion of sensor data. In this paper, some of the main results are highlighted. Findings of the SEFS project include data fusion structure and architecture, tracking methods as well as vehicle and road models pulse related parameter estimation
