Vehicle equipped with sensor fusion track device and merging method using the same

A method for controlling a vehicle comprising a sensor comprising one or more sensors comprising a light detection and ranging (LIDAR) sensor and configured to obtain information about a target object present around the vehicle, and a sensor information fusion device comprising a processor configured to control to generate or maintain a sensor fusion track using the information about the target object provided by the sensing device, the method comprising:

• detecting, by the one or more sensors, the target object which is laterally spaced apart from the vehicle and a partial portion of which is disposed within a detection area of the LiDAR sensor;
• determining, by the processor, a length of the sensor fusion track using a partial LiDAR (PL) track associated with the partial portion of the target object which is detected by the LiDAR sensor;
• estimating, by the processor, an edge point in a shape reconstructed based on the length of the sensor fusion track;
• and
• controlling driving of the vehicle based on the edge point.