How do you architect a sensor fusion system for ADAS applications?

Sensor fusion architecture involves: Selecting fusion level (low-level raw data, mid-level feature/object, high-level decision fusion), defining sensor inputs and their characteristics (latency, accuracy, coverage), time synchronization framework (hardware timestamping, clock synchronization), coordinate transformation pipeline, object tracking and association algorithms, confidence and uncertainty propagation, and output interface design. Safety requirements determine redundancy strategy and fallback modes. Processing architecture may be centralized (single compute platform) or distributed (ECU network with data sharing). Key challenges include handling sensor failures, managing computational load, and meeting real-time requirements.