PURPOSES : Demonstrated performance degradation of LiDAR for vehicle and pedestrian dummy in rainy and foggy road conditions. METHODS : In real-scale rain and fog road conditions, adjust the distance between LiDAR and the measurement target from 10m to 70m (in 10m interval), measure LiDAR NPC (number of point cloud) and intensity, and compare the resulting numerical values. RESULTS : LiDAR's NPC and Intensity showed statistically significant differences by overall weather condition (normal, rain, fog), and the values were found to be larger in the order of normal>rainfall>fog. In the case of vehicles, sunder rain conditions, NPC and intensity are recognized even at 70m as in normal conditions, but under fog conditions, NPC and intensity are measured only up to 30m. In the case of pedestrians, the reflective area size is smaller than that of vehicles, so they are recognized only up to 30m in rainy conditions, and NPC and intensity are measured only up to 20m in fog conditions. CONCLUSIONS : It was confirmed that LiDAR performance deteriorates in rain and fog compared to normal.

1. 서론
2. 선행연구 검토
3. 실험환경 및 방법
    3.1. 실험환경
    3.2. 측정장비 및 성능지표
    3.3. 측정대상
    3.4. 실험방법
4. 측정결과
    4.1. 기상조건 및 측정거리별 LiDAR Point Cloud 및Intensity 측정 결과
    4.2. 기상조건 및 측정거리별 차량에 대한 LiDAR NPC측정 결과 분석
    4.3. 기상조건 및 측정거리별 보행자 더미에 대한LiDAR NPC 측정 결과 분석
    4.4. 기상조건 및 측정거리별 차량에 대한 LiDARIntensity 측정 결과 분석
    4.5. 기상조건 및 측정거리별 보행자 더미에 대한LiDAR Intensity 측정 결과 분석
5. 결론 및 향후연구
감사의 글

• 박원일(정회원 · 한국건설기술연구원 도로교통연구본부 전임연구원 · 서울대학교 건설환경공학부 박사수료) | Park Wonil
• 박기수(정회원 · 한국건설기술연구원 도로교통연구본부 UST학생연구원 · UST 건설환경공학부 박사수료) | Park Kisoo
• 김용석(정회원 · 한국건설기술연구원 도로교통연구본부 연구위원) | Kim Yongseok
• 이석기(정회원 · 한국건설기술연구원 도로교통연구본부 연구위원 · UST 건설환경공학부 교수) | Lee Sukki (Korea Institute of Civil Engineering and Building Technology, 283, Goyangdae-ro, Ilsanseo-gu, Goyang-si, Gyeonggi-do 10223, Korea) 교신저자