A data fusion method, comprising: obtaining (S101, S202, S302) vehicle sensing data, wherein the vehicle sensing data is obtained by a vehicle sensing apparatus by sensing a road environment in a sensing range; obtaining (S102, S201, S301) roadside sensing data, wherein the roadside sensing data is obtained by a roadside sensing apparatus by sensing a road environment in a sensing range; wherein the sensing range of the vehicle sensing apparatus and the sensing range of the roadside sensing apparatus overlap; and fusing (S106, S206, S304), by a vehicle device or a roadside device, the vehicle sensing data and the roadside sensing data by using a fusion formula, to obtain a first fusion result effectively extending the sensing range of the vehicle sensing apparatus or the roadside sensing apparatus, respectively; wherein the fusion formula is expressed as: y = f result r result v wherein result r is a roadside result set, the roadside result set is used to indicate the roadside sensing data, result v is a vehicle result set, the vehicle result set is used to indicate the vehicle sensing data, y is the first fusion result, and the function f is used to obtain the first fusion result by mapping based on the roadside result set and the vehicle result set; characterized in that f result r result v = w r w r + w v result r + w v w r + w v result v wherein w r is a confidence factor of the roadside sensing apparatus, w r = (w r1, w r2,..., w rM), result r (roadside 1, roadside 2,..., roadside M), M is a quantity of target objects in the sensing range of the roadside sensing apparatus, w ri is a confidence factor corresponding to a target object i in the sensing range of the roadside sensing apparatus, roadside i is a roadside result unit corresponding to the target object i in the sensing range of the roadside sensing apparatus, i is a natural number, 0 < i ≤ M, w v is a confidence factor of the vehicle sensing apparatus, w v = (w v1, w v2,..., w vN), result v (vehicle 1, vehicle 2,..., vehicle N), N is a quantity of target objects in the sensing range of the vehicle sensing apparatus, w vj is a confidence factor corresponding to a target object j in the sensing range of the vehicle sensing apparatus, vehicle j is a vehicle result unit corresponding to the target object j in the sensing range of the vehicle sensing apparatus, j is a natural number, and 0 < j ≤ N. obtaining (S101, S202, S302) vehicle sensing data, wherein the vehicle sensing data is obtained by a vehicle sensing apparatus by sensing a road environment in a sensing range; obtaining (S102, S201, S301) roadside sensing data, wherein the roadside sensing data is obtained by a roadside sensing apparatus by sensing a road environment in a sensing range; wherein the sensing range of the vehicle sensing apparatus and the sensing range of the roadside sensing apparatus overlap; and fusing (S106, S206, S304), by a vehicle device or a roadside device, the vehicle sensing data and the roadside sensing data by using a fusion formula, to obtain a first fusion result effectively extending the sensing range of the vehicle sensing apparatus or the roadside sensing apparatus, respectively; wherein the fusion formula is expressed as: y = f result r result v wherein result r is a roadside result set, the roadside result set is used to indicate the roadside sensing data, result v is a vehicle result set, the vehicle result set is used to indicate the vehicle sensing data, y is the first fusion result, and the function f is used to obtain the first fusion result by mapping based on the roadside result set and the vehicle result set; characterized in that f result r result v = w r w r + w v result r + w v w r + w v result v wherein w r is a confidence factor of the roadside sensing apparatus, w r = (w r1, w r2,..., w rM), result r (roadside 1, roadside 2,..., roadside M), M is a quantity of target objects in the sensing range of the roadside sensing apparatus, w ri is a confidence factor corresponding to a target object i in the sensing range of the roadside sensing apparatus, roadside i is a roadside result unit corresponding to the target object i in the sensing range of the roadside sensing apparatus, i is a natural number, 0 < i ≤ M, w v is a confidence factor of the vehicle sensing apparatus, w v = (w v1, w v2,..., w vN), result v (vehicle 1, vehicle 2,..., vehicle N), N is a quantity of target objects in the sensing range of the vehicle sensing apparatus, w vj is a confidence factor corresponding to a target object j in the sensing range of the vehicle sensing apparatus, vehicle j is a vehicle result unit corresponding to the target object j in the sensing range of the vehicle sensing apparatus, j is a natural number, and 0 < j ≤ N.