Systems engineering (not to mention FMEA analysis) will probably drive car manufacturers to use a combination of sensors with independent failure modes: camera,

Systems engineering (not to mention FMEA analysis) will probably drive car manufacturers to use a combination of sensors with independent failure modes: camera, radar, lidar & ultrasonics. An unexpectedly interesting question is this: Where on the processing pipeline(s) should the point(s) of data fusion lie?, and how should we perform safety engineering on the post-fusion data flow pipeline....