I. Introduction and Motivation
Advanced Driver Assistance Systems (ADAS) are playing an increasing role as safety features even in smaller vehicle classes like Golf, Polo, or up!. The development of active safety systems is a challenging task because they are designed to operate in potentially dangerous crash- and near-crash-scenarios. Furthermore, detecting such hazardous situations and reacting as quickly as possible and yet reliably is of central interest and will probably result in a better rating at consumer-test-organizations (CTOs).