Electronic control device and operation method

An electronic control device, comprising:

• a sensor information acquisition unit which acquires state quantities including a position of an object to be measured using an output of a plurality of sensors, or calculates the state quantities of the object to be measured by using the output of the plurality of sensors;
• a storage unit which stores
• position determination information as a condition of a classification related to the position,
• a future classification condition as a condition of a classification related to a future position, which is a future position of the object to be measured, and
• a classified future position as the future position of the object to be measured which was classified by the future classification condition;
• a position determination unit which classifies the object to be measured by using the position determination information;
• a fusion unit which determines, by referring to the state quantities, a match among a plurality of the objects to be measured which are classified identically by the position determination unit and which were measured by different sensors, and fuses the positions of the plurality of objects to be measured determined to be a match, wherein
• the objects to be measured are objects that can be measured by each of the plurality of sensors;
• and
• a future position estimation unit which estimates the future position of the object to be measured, and classifies the future position by using the future classification condition, wherein
• the fusion unit also includes, in targets to be determined, the objects to be measured which are classified identically by the future position estimation unit in the determination of a match of the objects to be measured, and fuses the positions and the future positions of the plurality of objects to be measured determined to be a match.