Method for increasing data association accuracy, comprising the steps of - generating a first kinematics data entity and a first identity data entity about at least one object; and - generating a second kinematics data entity and a second identity data entity about at least one object, - generating at least one distance matrix using the kinematics data entities (KIN1, KIN2) or the identity data entities (ID1, ID2); and - gating said at least one generated distance matrix; characterized by - generating the first kinematics data entity and the first identity data entity, and the second kinematics data entity and the second identity data entity, by different types of sensors, respectively; - generating a combined distance matrix based upon a first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2) and a second gated generated distance matrix comprising the identity data entities (ID1, ID2), or generating a gated combined distance matrix based upon the first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2), and the identity data entities (ID1, ID2) or based upon the second gated generated distance matrix comprising the identity data entities (ID1, ID2), and the kinematics data entities (KIN1, KIN2); and - performing an association process depending upon the generated combined distance matrix or the generated gated combined distance matrix. - generating a first kinematics data entity and a first identity data entity about at least one object; and - generating a second kinematics data entity and a second identity data entity about at least one object, - generating at least one distance matrix using the kinematics data entities (KIN1, KIN2) or the identity data entities (ID1, ID2); and - gating said at least one generated distance matrix; - generating the first kinematics data entity and the first identity data entity, and the second kinematics data entity and the second identity data entity, by different types of sensors, respectively; - generating a combined distance matrix based upon a first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2) and a second gated generated distance matrix comprising the identity data entities (ID1, ID2), or generating a gated combined distance matrix based upon the first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2), and the identity data entities (ID1, ID2) or based upon the second gated generated distance matrix comprising the identity data entities (ID1, ID2), and the kinematics data entities (KIN1, KIN2); and a first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2) and a second gated generated distance matrix comprising the identity data entities (ID1, ID2), or the first gated generated distance matrix comprising the kinematics data entities (KIN1, KIN2), and the identity data entities (ID1, ID2) or the second gated generated distance matrix comprising the identity data entities (ID1, ID2), and the kinematics data entities (KIN1, KIN2); and - performing an association process depending upon the generated combined distance matrix or the generated gated combined distance matrix.