The Advanced Driving Assistance System has been widely applied on various kinds of vehicles, since it can provide timely protection and burden relief to the passengers and drivers. Multiple different sensors are adopted to realize specific functions, while millimeter-wave radar and vision sensor are one of the most common sensor combinations. The scheme of sensor data fusion for this combination becomes necessary to contribute with more accurate and complementary detection results. A data fusion model designed for the pair of radar and vision is proposed with a three-level hierarchical structure, which includes screening of original sensor data, sensor data correlation, and target track forecast. The concrete fusion scheme applied on each layer is presented in details. The results of simulation and real circumstances test validate and prove the presented sensor data fusion model is efficient.
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