NEXYAD proposed a new way for data fusion in 2 steps :

. Step 1 : data fusion 
Nexyad Suite 2

On ths level, modules c omminucate together in a dynamic way (there may be
differential systems if outputs are connected to inputs.
On the above diagram, VisiNex measures visibility, RoadNex detects the road
in front of the vehicle. Its inputs are both image (from a camera) and Region of
Interested that comes from SafetyNex (that is a connected object that reads the
map in front of the vehicle). VisiNex may change tuning parameters of RoadNex 
and then road detection is very robust ...
To read more : http://www.nexyad-adas.com/