**4.1 Fusion of DATA at ECU**

There are a number of sub systems associated in performing various tasks of ADAS. A vehicle's movement detected by the ADAS can be seen in the main system inside the vehicle when the driver is present. This system interacts with the environment. There are different functions of the system as can be clearly distinguished in **Figure 6**. The following distinctive features of fusion are mentioned as under:


These functions are synonymous to as Sense (1), Think(2), and Act(3). Only the Sense sensors are reviewed and only the systems in which the driver is inside the loop. **Figure 6** shows the process of 'multi sensor processing', starting with the sensor data acquisition. Next, the sensors processing, divided into several tasks, as 'Calibration, 'Feature Extraction', 'Object Detection', etc., begins to analyze the sensors data and, in the end, serves the application with a more or less detailed model of the environment [4].
