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Current Advanced Driver Assistance Systems (ADAS) often interact with the driver; aiding with either warnings or direct intervention. This work explores the development of an ADAS system to provide lane departure warning, forward collision warning, and a recommended following distance for a custom plug-in hybrid-electric vehicle. The system utilizes off-the-shelf hardware with in-house computer vision and sensor fusion algorithms to create a low-cost SAE Level 0 driver assistance system. The system utilizes a radar sensor as well as a camera to detect, classify, and track target vehicles. This work will illustrate the systems engineering methods used for outlining customer requirements, technical requirements, component selection, software development, simulation, vehicle fitment, and validation. Similar system engineering processes could be implemented for higher level SAE systems.