1. A method of performing object classification in a collision warning and countermeasure system of a vehicle, said method comprising the steps of: detecting at least one object and generating at least one object detection signal in response to the detection; generating at least one image detection signal including an image representation of said at least one object; projecting said at least one object detection signal on an image plane in response to said at least one image detection signal to thereby generate at least one fused image reference; comparing at least one said fused image reference to at least one validated object template that has been selected from a stored plurality of validated object templates; if at least one said validated object template is determined to sufficiently match at least one said fused image reference, classifying at least one said object according to the at least one matching validated object template; and if no said validated object template is determined to sufficiently match at least one said fused image reference, generating at least one candidate object template according to at least one said fused image reference, validating at least one said candidate object template, and classifying at least one said object according to at least one validated candidate object template.