The present invention provides a sensor recognition integration device capable of preventing a rapid change in coordinates of an integrated object and preventing, for example, an erroneous determination in an autonomous driving plan determination device, even when the combination of sensors that perform detection changes. In the present invention, since an object position is estimated in a state where information of a position detected by a sensor that recognizes an object in an external field is corrected or changed, the rapid change of coordinates of an integrated object is prevented even when the combination of sensors that perform detection changes.