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The increasing complexity of advanced driver assistance systems (ADAS) requires new design strategies in order to provide the necessary reliability for safety-related applications. In this paper, the connection of several perception modules to a modular ADAS is proposed. The benefits of such an approach are analyzed on the example of a vision and radar based vehicle & lane detection system. In particular, the effect of algorithmic synergies between the modules is investigated. The performance of the modular perception system is demonstrated using real-world data from the concept vehicle Carai. The results show that the performance and reliability of this approach surpasses the properties of the single modules.