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Advanced driver assistance systems (ADAS) help drivers to perform complex driving tasks and to avoid or mitigate dangerous situations. The vehicle senses the external world using sensors and then builds and updates an internal model of the environment configuration. Vehicle perception consists of establishing the spatial and temporal relationships between the vehicle and the static and moving obstacles in the environment. Vehicle perception is composed of two main tasks: simultaneous localization and mapping (SLAM) deals with modelling static parts; and detection and tracking moving objects (DATMO) is responsible for modelling moving parts of the environment. The perception output is used to reason and decide which driving actions are the best for specific driving situations. In order to perform a good reasoning and control, the system has to correctly model the surrounding environment. The accurate detection and classification of moving objects is a critical aspect of a moving object tracking system. Therefore, many sensors are part of a common intelligent vehicle system. Multiple sensor fusion has been a topic of research since long; the reason is the need to combine information from different views of the environment to obtain a more accurate model. This is achieved by combining redundant and complementary measurements of the environment. Fusion can be performed at different levels inside the perception task. Classification of moving objects is needed to determine the possible behaviour of the objects surrounding the vehicle, and it is usually performed at tracking level. Knowledge about the class of moving objects at …