The POCIMA project (Pedestrians, Cyclists, and Motorists/Bikers) was a research and technological innovation initiative carried out in Spain between 2007 and 2010, funded by the Ministry of Science and Innovation through the National R&D&I Plan (Reference: CICYT TRA2007-67374). The project’s primary objective was to design an advanced driver-assistance system focused on safety and connected vehicles. Its main function was to automatically monitor both the area in front of the vehicle and its blind spot to detect and protect vulnerable road users (pedestrians, cyclists, and motorcyclists). To achieve robust and reliable detection under various weather and lighting conditions, the project implemented an architecture based on sensor fusion. Rather than relying on a single device, it combined complementary information from various technologies installed in the vehicle.