In this modern day automotive world, the occurrence of accidents is much more due to several factors. This can be avoided when the driver is alert. So a system has to be developed which gives the driver the information about the nearby vehicles whether it is a danger, no danger, potential danger. This paper presents you how to classify the vehicles in its ROI and categorize their stage of danger. Specifically, stereo cameras and Millimeter Wave (MMW)-radar are fused to help the driving ego-vehicle. Cameras are used to identify near lateral dynamic objects and MMW radar to detect far longitudinal objects. This process is simulated using python using CV2 library, numpy library.