DISTANCE-ADAPTIVE SENSOR FUSION METHOD, VEHICLE, AND COMPUTER-READABLE STORAGE MEDIUM STORING INSTRUCTIONS FOR PERFORMING DISTANCE-ADAPTIVE SENSOR FUSION METHOD

There is provided a distance-adaptive sensor fusion method. The method comprises determining radar feature information using a radar signal; determining radar bird's-eye-view (BEV) feature information based on the radar feature information; determining ultrasonic feature information using an ultrasonic signal; determining ultrasonic BEV feature information based on the ultrasonic feature information; determining image feature information using image information; reflecting depth information of the radar feature information and the ultrasonic feature information in the image feature information in consideration of a detection area of a radar sensor and a detection area of a ultrasonic sensor, and performing view transformation on the image feature information; constructing image BEV feature information based on the image feature information on which the view transformation is performed; and concatenating the radar BEV feature information, the ultrasonic BEV feature information, and the image BEV feature information to determine a fused BEV feature information map.