This book reviews the multi-sensor data fusion methods applied in autonomous driving, and the main body is divided into three parts: Basic, Method, and Advance. Starting from the mechanism of data fusion, it comprehensively reviews the development of automatic perception technology and data fusion technology, and gives a comprehensive overview of various perception tasks based on multimodal data fusion. The book then proposes a series of innovative algorithms for various autonomous driving perception tasks, to effectively improve the accuracy and robustness of autonomous driving-related tasks, and provide ideas for solving the challenges in multi-sensor fusion methods. Furthermore, to transition from technical research to intelligent connected collaboration applications, it proposes a series of exploratory contents such as practical fusion datasets, vehicle-road collaboration, and fusion mechanisms.