Demand for the development of Advanced Driver Assistance System (ADAS) is created by the desire to build safer vehicles and roads, and thus to reduce the number of road fatalities and legislations of the leading country. Since ADAS and automated vehicles require much more complex sensory input, the automotive industry faces a great challenge in turning autonomous driving into a reality. As a result, ADAS requires special methods to handle multiple sensory inputs, such as Data Fusion Algorithm. This white paper presents an approach to integrating data fusion into an ADAS.