Vehicle equipped with sensor fusion trajectory device and merging method

The invention relates to a vehicle equipped with a sensor fusion trajectory device and a merging method. A vehicle according to an embodiment includes: a sensing device including one or more sensors configured to obtain information about a target object present around the vehicle; and a sensor information fusion device including a processor configured to control generation or maintenance of a sensor fusion trajectory using information about the target object provided by the sensing device, where the processor is configured to: determine a length of the sensor fusion trajectory using a partial LiDAR (PL) trajectory in which the length of the sensor fusion trajectory is greater than the length of the target object; detecting only a portion of the target object in a boundary region of the sensor; and estimating edge points of the reconstructed shape based on the determined length of the sensor fusion trajectory. 本发明涉及一种配备有传感器融合轨迹装置的车辆及合并方法。根据实施例的车辆包括：感测装置，包括被配置为获得关于车辆周围存在的目标物体的信息的一个或多个传感器；以及传感器信息融合装置，包括被配置为使用由感测