Sensor detection integration device (006) comprising the following: a sensor object information unit that generates integration object information (205A, 205B) by integrating sensor object information (207A, 207B, 207C) with respect to a sensor object obtained by multiple detection sensors for an
external field that detect an object in an
external field, the sensor object
information integration unit (010) comprises: an integration object
information storage unit (106) that stores the integration object information (205A, 205B), a prediction update unit (100) that extracts a predictable prediction object from the integration object information (205A, 205B) previously stored in the integration object
information storage unit (106), and predicts a position of the prediction object after a predetermined time without using the sensor object information (207A, 207B, 207C), an allocation unit (101) that estimates the prediction object to be assigned to the sensor object information (207A, 207B, 207C), an offset parameter update unit (102) that updates an offset parameter required for calculating an offset to be applied to the sensor object information (207A, 207B, 207C), an integration target information generation unit (104) that applies the offset to the sensor
object based on the offset parameter and generates integration target information (204) in which the prediction object and the sensor object with applied offset are linked, based on an
estimation result of the assignment unit (101), and an integration update unit (105) that generates the integration object information (205A, 205B) with the estimated position of the
object based on the integration target information (204).