An avoidance path generation method on the basis of multi-sensor convergence using a control infrastructure comprises the steps in which: a control device receives first sensing data relating to a region of interest from sensors of the control infrastructure; the control device receives second sensing data relating to a peripheral area from a moving object which moves on a set path; the control device generates convergence data by converging the first sensing data and the second sensing data; the control device determines whether or not there is a risk factor in an area to which the moving object is to move, by means of the convergence data; and, if there is a risk factor, the control device determines an avoidance path enabling the moving object to avoid the risk factor.
