Being able to create a digital environment model of a vehicle while driving is essential for all future car technology involving autonomous driving. The idea is to fuse data collected by different sensor systems placed around the car such as radar, ultrasound, LiDAR and camera input. In this way the vehicle is able to detect lane marks, moving and stationary objects, landmarks, free space etc. By utilising this technology, we will be able to create functions that will assist the driver by increasing convenience and safety. This will also lead the way to our final goal of achieving completely autonomous, efficient and safe traffic. In the future this technology will play an important role in Advanced Driving Assistance Systems and Autonomous Driving.