output 60 in block 64 along with vehicle parameters 62 such as vehicle speed yaw rate steering angle and steering rate the vehicle parameters 62 are evaluated in conjunction with the radar output 40 and the vision output 60 to enhance the reliability of the deployment decision and further adjust the deployment characteristics of the safety device 66 referring now to fig5 since each sensor has some very accurate features and some less accurate features sensor system 10 may also be configured to combine the attributes of both radar sensor 10 and vision sensor 11 to provide control signals to the safety device 82 the radar output includes the range measurement 28 the radar closing velocity 30 and the radar position 74 while the vision output includes the vision range measurement 42 vision closing velocity 70 vision bearing rate 46 and vision bearing valve 44 the control signals 80 are based on a combination of radar and vision measurements from each sensor the combining of discrete measurements from separate sensors to improve reliability of a measurement is referred to as feature fusion for example the closing velocity 30 as measured by radar sensor 10 is combined with closing velocity 70 as measured by vision sensor 11 to determine a fused closing velocity as denoted by block 72 similarly the range measurement 28 from radar sensor 10 is fused or combined with the vision range measurement 42 as measured by vision sensor 16 to determine a fused range measurement.