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Advanced driver assistance systems represent considerable progress for improving the safety of vehicles on the road. One group of these systems is based on the detection of obstacles. If positive results are to be achieved these systems must be capable of taking a coherent decision as to which situations involve hazard, in order to avoid false alarms that lead to actions that are not only wrong but disturbing to other road users and cause the driver to lose faith in the system. This paper presents some algorithms to improve those already existing for detecting, identifying and characterising obstacles by means of a laserscanner. The major innovations are: (1) fusing the information from the laserscanner with a positioning system while taking account of the quality of the latter; (2) the criteria for locating obstacles (segmentation process), overcoming the limitations of other approaches that ignore the influence of the …