Method and device for filtering virtual object using plurality of sensors

A method performed by a device, comprising a memory and a processor, for calculating a collision risk of a ship, the method comprising:

• calculating an available velocity area based on maneuvering performance of a host ship, the available velocity area being an area comprising available various velocities based on the maneuvering performance;
• calculating a velocity obstacle area where there is a possibility of collision between an object and the host ship;
• calculating an overlapping area where the available velocity area and the velocity obstacle area overlap each other;
• and
• calculating a collision risk by applying a corresponding weight value to the overlapping area.