A vehicle safety system comprising a detection system and at least one control unit (14; 34, 35, 36, 37; 45), where the detection system is arranged to detect objects, where the detection system comprises at least two detectors (3, 4, 5, 6; 39, 40), where at least one control unit (14; 34, 35, 36, 37; 45) is arranged to: - determine that an object that is detected by an initial detector (5, 40) is classified as a confirmed object for the initial detector (5, 40) in a corresponding initial coverage area (11, 42) which the initial detector (5, 39) is arranged to cover; where another detector is arranged to cover an adjacent coverage area, where an overlapping area is formed between the coverage areas (9, 11) of said detectors (3, 5) characterized in that said control unit (14; 34, 35, 36, 37; 45) further is arranged to: - determine that said other detector has detected the object for a first time at a first time (t 1) in the overlapping area, and to then classify said detection as a first preliminary detection; and to - determine whether said first preliminary detection is likely to originate from the same object as the confirmed object of the initial detector (5, 40), and if that is the case, to re-classify the first preliminary detection of the other detector (3, 39) as an intermediate low quality confirmed object for the other detector (3, 39), where the low quality confirmed object for the other detector is obtained from at least one detection in the overlapping area, where a low quality confirmed object is considered as a more reliable detection than a preliminary detection, and where a confirmed object is considered as a more reliable detection than a low quality confirmed object, where the control unit (14; 34, 35, 36, 37) further is arranged to: - determine that the initial detector and the other detector have detected an object for a consecutive second time at a second time (t 2) in the overlapping area, where the detection of the initial detector is classified as a confirmed object and the detection of the other detector is classified as a second preliminary detection; - determine whether the detection of said detectors (3, 5) at the second time (t 2) are likely to originate from the same object, and if that is the case to classify the second preliminary detection as a confirmed object for the other detector from the low quality confirmed object and the second preliminary detection; and to - determine that the present detections from the detectors (3, 5) are from a classified confirmed object in the overlapping area, and then to classify the present detections as a confirmed fused object. - determine that an object that is detected by an initial detector (5, 40) is classified as a confirmed object for the initial detector (5, 40) in a corresponding initial coverage area (11, 42) which the initial detector (5, 39) is arranged to cover; - determine that said other detector has detected the object for a first time at a first time (t 1) in the overlapping area, and to then classify said detection as a first preliminary detection; and to - determine whether said first preliminary detection is likely to originate from the same object as the confirmed object of the initial detector (5, 40), and if that is the case, to re-classify the first preliminary detection of the other detector (3, 39) as an intermediate low quality confirmed object for the other detector (3, 39), where the low quality confirmed object for the other detector is obtained from at least one detection in the overlapping area, - determine that the initial detector and the other detector have detected an object for a consecutive second time at a second time (t 2) in the overlapping area, where the detection of the initial detector is classified as a confirmed object and the detection of the other detector is classified as a second preliminary detection; - determine whether the detection of said detectors (3, 5) at the second time (t 2) are likely to originate from the same object, and if that is the case to classify the second preliminary detection as a confirmed object for the other detector from the low quality confirmed object and the second preliminary detection; and to - determine that the present detections from the detectors (3, 5) are from a classified confirmed object in the overlapping area, and then to classify the present detections as a confirmed fused object.