Invited Talk.This talk presents a novel Embedded Perception System based on a robust and efficient Bayesian Sensor Fusion approach. The system provides in real time (1) the state of the dynamic environments of the vehicle (free space, static obstacles, dynamic obstacles along with their respective motion fields, and unknown areas), (2) the predicted upcoming changes of the dynamic environment and (3) the estimated short-term collision risks (about 3s ahead). This approach has been developed and patented by Inria and IRT (French Technological Research Institute) Nanoelec. In 2018, an exploitation license was sold to Toyota Motor Europe and to an industrial company working in the field of Autonomous Shuttles (confidential). The approach is illustrated by some recent results obtained in cooperation with Toyota, Renault and the French IRT Nanoelec.