SYSTEM AND METHOD FOR FUSING SURROUNDING V2V SIGNAL AND SENSING SIGNAL OF EGO VEHICLE

A method of fusing a surrounding vehicle-to-vehicle (V2V) signal and a sensing signal of an ego vehicle includes calculating a position of a surrounding target vehicle and a velocity of the target vehicle based on the ego vehicle using global positioning system (GPS)/vehicle velocity information detected in the ego vehicle and GPS/vehicle velocity information included in a V2V signal detected in the target vehicle, extracting a sensor signal within a predetermined specific distance error from a position of the target vehicle relative to the ego vehicle of the V2V signal as a sensor information candidate group corresponding to the V2V signal, adaptively using a constant velocity model, a kinematic model or a dynamic model according to the extracted situation, and comparing the V2V signal with information on an object tracked using both the sensing signal and the V2V signal to estimate a position and velocity error of the V2V signal.