A driver assistance system is described that takes as input a number of different types of vehicle environment inputs to provide driver assistance to a driver. To provide the assistance, the driver assistance system synthesizes the inputs. For objects in the vehicle environment detected in the inputs, object risk values are determined by applying a set of rules to the objects. The object risk values are aggregated by quadrant to generate a set of quadrant risk values. A driver assistance system of the vehicle is controlled based on the quadrant risks.