APPARATUS AND METHOD FOR COMMUNICATION BASED ON VISIBLE LIGHT AND LiDAR

Abstract

The present invention proposes a new LiDAR-VLC communication device and a LiDAR-VLC communication method that improves the accuracy of object detection by measuring the distance to an object more accurately than existing LiDAR-based object detection technology, while simultaneously realizing high-speed data transmission via optical wireless communication along with distance measurement. In particular, the present invention proposes a new LiDAR-VLC communication device and a LiDAR-VLC communication method that can adaptively optimize object detection / data transmission performance according to variable optical channel conditions (e.g., weather, SNR, etc.) by utilizing a deep learning algorithm.

Description

Technology Field

[0001] The present invention relates to a technology for detecting an object by measuring the distance to the object using a LiDAR sensor, and to a Visible Light Communication (VLC) technology for transmitting data using lighting. Background Technology

[0002] Recently, due to the continuously increasing demand for the RF spectrum and the need to reduce the burden of connectivity via radio frequencies, there is a growing need for communication solutions that can be provided in unlicensed areas such as optical wavelengths, and as part of this, Optical Wireless Communication (OWC) is emerging.

[0003] Compared to RF communication such as 5G, OWC technology has various advantages, such as the fact that the light waves used as a communication medium will not have a harmful effect on human health, the use of a spectrum that does not require a license as a communication medium with a usable bandwidth more than 1,000 times larger than that of RF radio waves, and the fact that it already exists in various lighting infrastructures such as smart houses, hospitals, and automobiles, thereby lowering operating costs.

[0004] Visible Light Communication (VLC), one of the OWC technologies, is an optical wireless communication that can provide high data rates using the visible light spectrum.

[0005] Meanwhile, in relation to autonomous vehicles, object detection technology using LiDAR sensors to detect objects is being widely used recently.

[0006] LiDAR stands for Light Detection And Ranging. It operates using a remote sensing method (detection using a sensor from a distance) that uses near-infrared, visible, and ultraviolet light to illuminate an object and detects the reflected light through a light sensor to measure the distance.

[0007] This LiDAR-based object detection technology can detect an object by measuring the distance to the object, which is determined by irradiating / emitting near-infrared laser light in a pulsed state through a LiDAR sensor and measuring the time difference until the laser light (pulse) hits the object and is reflected.

[0008] In this invention, we propose a new technological solution that improves the accuracy of object detection by measuring the distance to an object more accurately than existing LiDAR-based object detection technology, while simultaneously enabling high-speed data transmission during distance measurement. Prior art literature

[0009] Registered Patent Publication No. 10-2109941 (Registration Date: May 6, 2020) The problem to be solved

[0010] The present invention was created in consideration of the aforementioned circumstances, and the problem to be solved by the present invention is to propose a new technological solution that improves the accuracy of object detection by measuring the distance to an object more accurately than existing LiDAR-based object detection technology, while simultaneously realizing high-speed data transmission along with distance measurement. means of solving the problem

[0011] A LiDAR and Visible Light-based communication device according to one aspect of the present invention for achieving the above objective comprises: a LiDAR sensor equipped with an Infrared Radiation (IR) laser panel and a photodetector, which transmits VLC data through an On-Off Keying (OOK) signal transmitted from the IR laser panel and receives a feedback signal derived from the transmitted OOK signal through the photodetector; a distance measuring unit that measures the distance to an object in the direction of signal transmission and reception using the transmitted OOK signal and the received feedback signal; and a channel analysis unit that utilizes a pre-trained prediction model reflecting the optical channel variability of signal transmission and reception so that the optical channel state predicted from the transmitted OOK signal and the received feedback signal is used to optimize the OOK signal output of the IR laser panel.

[0012] Specifically, the distance measuring unit can measure the distance to the object by detecting the OOK preamble portion for extracting the frame start point of the feedback signal received through the photodetector of the lidar sensor, and measuring the delay time between the preamble of the transmitted OOK signal and the detected OOK preamble.

[0013] Specifically, the above-mentioned learned prediction model may be a model generated through deep learning by learning feedback signals collected in different weather conditions and / or different signal-to-noise ratio (SNR) conditions for the OOK signal transmitted from the IR laser panel, and predicting and outputting the weather conditions and / or signal-to-noise ratio at the time of input for the transmitted OOK signal and the feedback signal.

[0014] Specifically, the system further includes a LiDAR optimization unit that optimizes LiDAR parameters in the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio (SNR) predicted and output from the prediction model; the LiDAR parameters may include at least one of the number of output lasers, the output magnitude of each laser, the shape, direction, and angle of the laser beam.

[0015] Specifically, the system may further include a LiDAR optimization unit that controls the driving of the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio (SNR) predicted and output from the prediction model, so that an OOK signal of optimized transmission power is transmitted from the IR laser panel.

[0016] Specifically, the distance measuring unit can detect the OOK preamble portion of each of the transmitted OOK signal and the feedback signal by applying a matching filter to the transmitted OOK signal and the feedback signal received through the photodetector of the lidar sensor.

[0017] Specifically, the feedback signal resulting from the transmitted OOK signal may be a signal received by reflecting the transmitted OOK signal, or an OOK signal that responds to the transmitted OOK signal from another device.

[0018] Specifically, if the feedback signal is an OOK signal that responds from the other device, the distance measuring unit may use it to measure the distance to the object after applying an interpolation value related to the response processing at the other device to the feedback signal.

[0019] A LiDAR and Visible Light-based communication method according to one aspect of the present invention for achieving the above objective comprises: a step in which a device supporting the LiDAR and Visible Light-based communication comprises a LiDAR sensor composed of an IR laser panel and a photodetector, and transmits VLC data through an OOK signal transmitted from the IR laser panel of the LiDAR sensor; a step in which the device receives a feedback signal derived from the transmitted OOK signal through the photodetector of the LiDAR sensor; a distance measurement step in which the device measures the distance to an object in the direction of signal transmission and reception using the transmitted OOK signal and the received feedback signal; and a channel analysis step in which the device utilizes a pre-trained prediction model reflecting the optical channel variability of signal transmission and reception so that the optical channel state predicted from the transmitted OOK signal and the received feedback signal is used to optimize the OOK signal output of the IR laser panel.

[0020] Specifically, the distance measurement step can measure the distance to the object by applying a match filter to the transmitted OOK signal and the feedback signal received through the photodetector of the lidar sensor to detect the OOK preamble portion of each of the transmitted OOK signal and the feedback signal, and measuring the delay time between the preamble of the transmitted OOK signal and the detected OOK preamble.

[0021] Specifically, the above-mentioned learned prediction model may be a model generated through deep learning by learning feedback signals collected in different weather conditions and / or different signal-to-noise ratio (SNR) conditions for the OOK signal transmitted from the IR laser panel, and predicting and outputting the weather conditions and / or signal-to-noise ratio at the time of input for the transmitted OOK signal and the feedback signal.

[0022] Specifically, the method further includes a LiDAR optimization step for optimizing LiDAR parameters in the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio predicted and output from the prediction model; the LiDAR parameters may include at least one of the number of output lasers, the output size of each laser, the shape, direction, and angle of the laser beam.

[0023] Specifically, the method may further include a LiDAR optimization step that controls the driving of the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio predicted and output from the prediction model, so that an OOK signal of optimized transmission power is transmitted from the IR laser panel.

[0024] A computer program according to one aspect of the present invention for achieving the above objective may be stored in a medium to execute the steps of: transmitting VLC data through an OOK signal transmitted from an IR laser panel of a LiDAR sensor combined with hardware and equipped with an IR laser panel and a photodetector; receiving a feedback signal derived from the transmitted OOK signal through a photodetector equipped in the LiDAR sensor; measuring the distance to an object in the direction of signal transmission and reception using the transmitted OOK signal and the received feedback signal; and executing a channel analysis step in which the optical channel state predicted from the transmitted OOK signal and the received feedback signal is used to optimize the OOK signal output of the IR laser panel by utilizing a previously learned prediction model that reflects the optical channel variability of the signal transmission and reception. Effects of the invention

[0025] Accordingly, the present invention realizes a novel LiDAR and Visible Light-based communication method that enables not only distance measurement and detection with respect to an object but also simultaneous transmission of optical wireless communication data (e.g., VLC data) through the transmission of a single Transmitting Signal (e.g., OOK signal), by fusion / equipping a structure that combines a photodiode and an IR laser (e.g., photodetector and IR laser panel) usable in a LiDAR sensor.

[0026] Accordingly, the present invention enables more accurate distance measurement to an object compared to existing LiDAR-based object detection technology, thereby improving the accuracy of object detection, and simultaneously enables high-speed data transmission (e.g., VLC data) via optical wireless communication.

[0027] In particular, according to the present invention, by utilizing a prediction model that has been trained / generated by applying a deep learning algorithm, a technical configuration is realized that adaptively optimizes the transmission of a Transmitting Signal (e.g., OOK signal) according to optical channel conditions such as weather and SNR, thereby enabling the effect of improving distance measurement and data transmission performance (e.g., VLC data) even with various changes in the optical channel.

[0028] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0029] FIG. 1 is an example of a communication system to which the LiDAR and Visible Light-based communication method proposed in the present invention can be applied. FIG. 2 is a block diagram showing the configuration of a LiDAR and Visible Light-based communication device according to one embodiment of the present invention. Figure 3 is an example diagram showing a system architecture and communication scenario supporting LiDAR and visible light-based communication proposed in the present invention. FIG. 4 is an example of a transmitting signal and a feedback signal transmitted and received in the present invention. Figure 5 is an example diagram illustrating a matched filter-based preamble detection method used in the present invention for measuring the distance to an object based on LiDAR. FIG. 6 is a flowchart showing the flow of operation of a LiDAR and Visible Light-based communication method according to one embodiment of the present invention. Specific details for implementing the invention

[0030] Hereinafter, embodiments of the present invention will be described with reference to the attached drawings.

[0031] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described in detail together with the accompanying drawings.

[0032] However, the present invention is not limited to the embodiments presented below, but can be implemented in various different forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In describing the present invention, detailed descriptions of related known technologies are omitted if it is determined that such detailed descriptions may obscure the essence of the invention.

[0033] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Terms such as "first," "second," etc., may be used to describe various components, but the components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In describing with reference to the accompanying drawings, identical or corresponding components are assigned the same reference numerals, and redundant descriptions thereof will be omitted.

[0034] The present invention relates to a technology for detecting an object by measuring the distance to the object using a LiDAR sensor, and to a Visible Light Communication (VLC) technology for transmitting data using lighting.

[0035] Recently, due to the continuously increasing demand for the RF spectrum and the need to reduce the burden of connectivity via radio frequencies, there is a growing need for communication solutions that can be provided in unlicensed areas such as optical wavelengths, and as part of this, Optical Wireless Communication (OWC) is emerging.

[0036] Compared to RF communication such as 5G, OWC technology has various advantages, such as the fact that the light waves used as a communication medium will not have a harmful effect on human health, the use of a spectrum that does not require a license as a communication medium with a usable bandwidth more than 1,000 times larger than that of RF radio waves, and the fact that it already exists in various lighting infrastructures such as smart houses, hospitals, and automobiles, thereby lowering operating costs.

[0037] Visible Light Communication (VLC), one of the OWC technologies, is an optical wireless communication that can provide high data rates using the visible light spectrum.

[0038] Meanwhile, in relation to autonomous vehicles, object detection technology using LiDAR sensors to detect objects is being widely used recently.

[0039] LiDAR stands for Light Detection And Ranging. It operates using a remote sensing method (detection using a sensor from a distance) that illuminates an object using near-infrared, visible, and ultraviolet light, and measures the distance by detecting the reflected light through a light sensor.

[0040] This LiDAR-based object detection technology can detect an object by measuring the distance to the object, which is determined by irradiating / emitting near-infrared laser light in a pulsed state through a LiDAR sensor and measuring the time difference until the laser light (pulse) hits the object and is reflected.

[0041] In this invention, we propose a new technological solution that integrates the aforementioned VLC technology and LiDAR-based object detection technology to improve the accuracy of object detection through more accurate distance measurement compared to existing LiDAR-based object detection technology, while simultaneously enabling high-speed data transmission for distance measurement.

[0042] More specifically, the present invention proposes a structure that fuses and incorporates a photodiode and an IR laser (e.g., a photodetector and an IR laser panel) usable in a LiDAR sensor, and aims to realize the aforementioned new technology by implementing a specific technical configuration that enables not only distance measurement and detection with a target object (e.g., an OOK signal) but also simultaneous transmission of high-speed optical wireless communication data (e.g., VLC data) using this structure.

[0043] Hereinafter, with reference to the drawings, an embodiment of a specific technical configuration for realizing the proposed technical solution of the present invention will be described.

[0044] First, FIG. 1 shows an example of a communication system to which the technology proposed in the present invention (hereinafter, LiDAR-VLC communication method) can be applied.

[0045] Basically, the present invention can be applied between devices that are equipped with or use LiDAR-based object detection capabilities, and representative examples include vehicles with autonomous driving capabilities (e.g., automobiles), inter-vehicle communication, robot vacuum cleaners, etc.

[0046] Figure 1 illustrates a vehicle-to-vehicle communication system applied to a vehicle (e.g., automobile) as an example of a communication system to which the LiDAR-VLC communication method of the present invention is applied.

[0047] In addition, FIG. 1 illustrates an embodiment in which the LiDAR-VLC communication device (100) of the present invention is applied to one of the vehicles, but the LiDAR-VLC communication device (100) of the present invention may be applied to both vehicles.

[0048] However, for the convenience of explanation, I will continue the explanation as an example in which the LiDAR-VLC communication device (100) of the present invention is applied to any vehicle, as shown in FIG. 1.

[0049] In the present invention, a specific technical configuration is implemented / realized to enable not only the measurement and detection of distance to an object (object) but also the simultaneous transmission of high-speed optical wireless communication data (e.g., VLC data) by transmitting a single Transmitting Signal (e.g., OOK signal) using the LiDAR-VLC communication device (100) of the present invention, which can be applied to a vehicle, by implementing a LiDAR sensor having a structure that fuses / equippes a photodiode and an IR laser (e.g., a photodetector and an IR laser panel), and to realize / realize a LiDAR-VLC communication device (100) of the present invention.

[0050] Hereinafter, with reference to FIG. 2, a LiDAR-VLC communication device (100) that implements / realizes a specific technical configuration in the present invention will be described in detail.

[0051] FIG. 2 illustrates the configuration of a LiDAR-VLC communication device (100) according to one embodiment of the present invention.

[0052] As illustrated in FIG. 2, a LiDAR-VLC communication device (100) according to one embodiment of the present invention may include a LiDAR sensor (110) having a structure that fuses / equips a photodiode and an IR laser (e.g., a photodetector and an IR laser panel), a distance measuring unit (120), a channel analysis unit (130), and a LiDAR optimization unit (140).

[0053] The entire configuration of the LiDAR-VLC communication device (100) or at least part thereof may be implemented in the form of a hardware module or a software module, or in a combined form of a hardware module and a software module.

[0054] Here, a software module can be understood as an instruction executed by a processor that controls operations within, for example, a LiDAR-VLC communication device (100), and such instruction may have a form loaded in memory within the LiDAR-VLC communication device (100).

[0055] Ultimately, the LiDAR-VLC communication device (100) according to an embodiment of the present invention can realize a LiDAR-VLC communication method that simultaneously performs distance measurement with respect to an object and high-speed data transmission using the technology proposed in the present invention, namely the LiDAR sensor (110), through the aforementioned configuration.

[0056] Below, each component of the communication LiDAR-VLC communication device (100) for realizing this will be described in more detail.

[0057] The LiDAR sensor (110) is implemented in a structure having an IR laser panel (112) and a photodetector (114).

[0058] Accordingly, the LiDAR sensor (110) can transmit VLC data through an OOK (On-off keying) signal transmitted from an IR laser panel (112), and receive a feedback signal resulting from the OOK signal transmitted from the IR laser panel (112) through a photo detector (114).

[0059] To explain in detail, the present invention is characterized by being implemented as a structure capable of transmitting optical wireless communication data (e.g., VLC data) in addition to the LiDAR function of measuring the distance to an object (object) using a remote sensing method (detection using a sensor from a distance) when implementing the LiDAR sensor (110).

[0060] As an example for this purpose, the present invention proposes a LiDAR sensor (110) having a structure that fuses / equippes a photodiode and an IR-laser that can be used to implement a LiDAR sensor, and as shown in FIG. 2, a LiDAR sensor (110) can be proposed / implemented having a photodetector (114) as a photodiode and an IR laser panel (112) as an IR-laser.

[0061] And, the LiDAR-VLC communication device (100) of the present invention transmits (irradiates / radiates) a signal for a LiDAR function for measuring the distance to an object through the IR laser panel (112) of the LiDAR sensor (110), but transmits it in a state / form capable of carrying and transmitting optical wireless communication (OWC) data, rather than the simple delta dirac pulse state / form used in existing LiDAR-based technology.

[0062] More specifically, the present invention adopts VLC technology capable of providing a high data rate using the visible light spectrum.

[0063] Accordingly, the LiDAR-VLC communication device (100) of the present invention can transmit VLC data by carrying it on the illumination, i.e., the Transmitting Signal, which is irradiated / radiated for the LiDAR function through the IR laser panel (112) of the LiDAR sensor (110).

[0064] For example, the LiDAR-VLC communication device (100) of the present invention can encode data of a transmission target in a preset manner (e.g., OOK encoder) and transmit the encoded VLC data by carrying it on a Transmitting Signal for LiDAR function, that is, illumination emitted from an IR laser panel (112) of a LiDAR sensor (110).

[0065] Among the simplest modulation methods in OOK (On-Off Keying), Amplitude Shift Keying (ASP), which uses two states of light ON and OFF for data transmission, is the most widely known. In addition to this, various other OOK encoding and decoding methods exist, and a detailed description thereof will be omitted in this invention.

[0066] The illumination emitted from the IR laser panel (112) of the LiDAR sensor (110), i.e., the Transmitting Signal for the LiDAR function, may be named differently depending on the method of encoding the data to be transmitted, and below, according to an example of an OOK encoder, it will be referred to as an "OOK signal".

[0067] In this way, a receiving device (not shown) that receives a transmitting signal (OOK signal) transmitted from the LiDAR-VLC communication device (100, particularly the IR laser panel (112) of the LiDAR sensor (110)) of the present invention can detect / track and decode (e.g., OOK decoder) the transmitting signal (OOK signal) emitted from the IR laser panel (112) of the LiDAR sensor (110) and verify the data transmitted thereon.

[0068] Since the core of the present invention is to simultaneously implement LiDAR functions and optical wireless communication data (e.g., VLC data) using a LiDAR sensor (110), a specific description of a receiving device (not shown) that receives a Transmitting Signal (OOK signal) will be omitted.

[0069] Thus, in the LiDAR-VLC communication device (100) of the present invention, by utilizing a single Transmitting Signal (e.g., OOK signal), that is, a Transmitting Signal for LiDAR function, it is possible to realize the transmission of optical wireless communication data (e.g., VLC data).

[0070] In this way, the LiDAR-VLC communication device (100) of the present invention can transmit VLC data through an OOK signal transmitted from the IR laser panel (112) of the LiDAR sensor (110), and thus a feedback signal resulting from the OOK signal transmitted from the IR laser panel (112) will be returned.

[0071] Accordingly, the LiDAR-VLC communication device (100) of the present invention can receive a feedback signal resulting from the OOK signal transmitted from the IR laser panel (112) of the LiDAR sensor (110) through the photo detector (114) of the LiDAR sensor (110).

[0072] The distance measuring unit (120) is responsible for measuring the distance to an object in the direction of signal transmission and reception using the transmitting signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110) and the feedback signal received through the photo detector (114) of the LiDAR sensor (110).

[0073] In particular, the distance measuring unit (120) in the present invention has a characteristic configuration that measures the distance to an object in the direction of signal transmission and reception by applying a matched filter to the transmitting signal (OOK signal) and the feedback signal.

[0074] To explain in detail, according to existing LiDAR-based technology, objects were detected based on distance by transmitting (irradiating / emitting) a delta-dirac pulse of a simple state / form and measuring the time difference resulting from the reflected pulse returning to determine the distance to the object.

[0075] In contrast, the present invention transmits (irradiates / emits) a Transmitting Signal (OOK signal) in the form of transmitting optical wireless communication data (e.g., VLC data), rather than a simple pulse form as described above.

[0076] Therefore, in the present invention, the feedback signal received through the photodetector (114) of the LiDAR sensor (110) will also have a form similar to a transmitting signal (OOK signal), rather than a simple pulse form.

[0077] Accordingly, to explain a specific embodiment, the distance measuring unit (120) can detect an OOK preamble portion for extracting the frame start point of the feedback signal received through the photo detector (114) of the LiDAR sensor (110).

[0078] Generally, OWC technology adopts a technique to detect the preamble portion to extract the frame start point of the received data during the data decoding process.

[0079] Based on this technology, the distance measuring unit (120) can detect the OOK preamble portion of the feedback signal received through the photo detector (114) of the LiDAR sensor (110).

[0080] In particular, in the present invention, the distance measuring unit (120) applies a matched filter to the transmitting signal (OOK signal) and the feedback signal to detect the OOK preamble portion of each of the transmitting signal (OOK signal) and the feedback signal.

[0081] At this time, the LiDAR-VLC communication device (100, particularly the distance measuring unit (120)) of the present invention is the transmitting side that has transmitted the Transmitting Signal (OOK signal), so it already knows the OOK preamble part of the Transmitting Signal (OOK signal) (time t0, see FIG. 4).

[0082] Meanwhile, the matched filter is a linear filter technique primarily used to determine the template signal from the actual signal by comparing the template signal with the actual signal.

[0083] The distance measuring unit (120) can detect the preamble position in the feedback signal received through the photo detector (114) of the LiDAR sensor (110) by applying this matched filter.

[0084] Specifically, the distance measuring unit (120) can detect the position of the preamble of the feedback signal by multiplying the feedback signal received through the photo detector (114) of the LiDAR sensor (110) by a known preamble (e.g., the preamble of the transmitting signal (OOK signal)) according to the convolution algorithm according to the following mathematical formula 1.

[0085]

[0086] Referring to FIG. 5, in the present invention, a preamble position detection result (b) can be obtained by applying a matched filter to a feedback signal (a) received through a photodetector (114) of a LiDAR sensor (110). In (b), each peak part corresponds to a preamble position.

[0087] Accordingly, the distance measuring unit (120) can measure the distance to the target object (object) by measuring the delay time between the preamble of the Transmitting Signal (OOK signal) previously transmitted from the IR laser panel (112) of the LiDAR sensor (110) and the OOK preamble of the Feedback Signal detected this time.

[0088] To explain more specifically with reference to FIG. 4, as shown in FIG. 4, the IR laser panel (112) of the LiDAR sensor (110) can transmit (irradiate / radiate) a Transmitting Signal (OOK signal) at time t0 (top of FIG. 4).

[0089] At this time, the LiDAR-VLC communication device (100, particularly the distance measuring unit (120)) of the present invention is the transmitting side that transmits the Transmitting Signal (OOK signal), so it already knows the OOK preamble part (time t0) of the Transmitting Signal (OOK signal) from the IR laser panel (112) of the LiDAR sensor (110).

[0090] Meanwhile, as can be seen in FIG. 4, the feedback signal received through the photodetector (114) of the LiDAR sensor (110) will also have a form similar to the transmitting signal (OOK signal) rather than a simple pulse form (bottom of FIG. 4).

[0091] At this time, the distance measuring unit (120) can detect the OOK preamble position / part (e.g., t1) of the feedback signal by applying a matched filter to the transmitting signal (OOK signal) and the feedback signal as described above.

[0092] Accordingly, the distance measuring unit (120) can measure the distance (R) to the target object (object) according to the following mathematical formula 2 by measuring / utilizing the delay time (Δt) between the OOK preamble (t0) of the previously transmitted signal (OOK signal) and the OOK preamble (t1) of the feedback signal detected this time.

[0093]

[0094] Here, c can be a general constant (e.g., 1) or can be used as an interpolation value as described later.

[0095] Thus, the LiDAR-VLC communication device (100) of the present invention can perform a LiDAR function by detecting an actual object (object) based on the distance (R) to the object (object) measured by the distance measuring unit (120).

[0096] Thus, in the LiDAR-VLC communication device (100) of the present invention, by utilizing a single Transmitting Signal (e.g., OOK signal), that is, a Transmitting Signal for the LiDAR function, the transmission of data for the LiDAR function and optical wireless communication (e.g., VLC data) is realized simultaneously.

[0097] In particular, in the present invention, as a transmitting signal for the LiDAR function, instead of the simple pulse (delta dirac pulse) used in existing LiDAR-based technologies, a transmitting signal in the form of one that supports optical wireless communication (e.g., OOK signal) is used. By utilizing the delay time (Δt) between preambles through sophisticated preamble detection based on a matched filter, rather than the time difference between simple pulses as in the existing method, it is possible to measure the distance to an object more accurately than in the existing method, thereby improving the accuracy of object detection.

[0098] Meanwhile, the feedback signal received through the photo detector (114) of the LiDAR sensor (110) may be a signal received by reflecting the Transmitting Signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110) as described above, and in the case of this first embodiment, the LiDAR-VLC communication device (100) of the present invention can detect an object (object) by measuring the distance to the object (object) according to the description of the above embodiment.

[0099] Meanwhile, the feedback signal received through the photo detector (114) of the LiDAR sensor (110) may be an OOK signal that responds from another device to the Transmitting Signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110) mentioned earlier.

[0100] In the case of this second embodiment, the "other device" that responds to the OOK signal with respect to the Transmitting Signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110) described above is the same device as the receiving device (not shown) that receives the Transmitting Signal (OOK signal) transmitted from the LiDAR-VLC communication device (100, particularly the IR laser panel (112) of the LiDAR sensor (110)) of the present invention described above.

[0101] In the case of this second embodiment, the feedback signal received through the photodetector (114) of the LiDAR sensor (110) may have a shape that is somewhat different from the transmitting signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110), but since it is a transmitting signal (OOK signal) transmitted by a "different device," it will not be in the form of a simple pulse.

[0102] However, in the case of this second embodiment, since the feedback signal is not a reflection of the transmitting signal (OOK signal) transmitted from the IR laser panel (112) of the LiDAR sensor (110), when measuring the distance to an object (object = “other device”) using the corresponding feedback signal (transmitting signal (OOK signal) from the perspective of the “other device”) in the LiDAR-VLC communication device (100) of the present invention, it must be possible to measure the time taken to process / generate the transmitting signal (OOK signal) from the “other device” by interpolating.

[0103] To this end, the distance measuring unit (120) can use the received feedback signal to measure the distance to an object (object=“other device”) after applying an interpolation value related to the response processing at the “other device” to the feedback signal if the received feedback signal is a transmitting signal (OOK signal) that responds at the “other device” of the prior art.

[0104] Specifically, in the present invention, an optimal interpolation value can be obtained through repetitive experiments in various environments related to the transmission and reception of optical wireless communication signals, and an interpolation value can be set by an operator, and an interpolation value can be derived in real time every time by creating a derived model through learning various environmental factors related to the transmission and reception of optical wireless communication signals through a deep learning model.

[0105] In the second embodiment as well, the distance measuring unit (120) can detect the OOK preamble portion of the feedback signal (e.g., t1', t1' will be greater than t1 of the first embodiment) through feedback signal analysis if the received feedback signal is a transmitting signal (OOK signal) that responds from the aforementioned "other device".

[0106] Accordingly, the distance measuring unit (120) can measure the distance (R) to the target object (object) by applying a negative interpolation value to the OOK preamble (t1') of the feedback signal detected this time, and then measuring / utilizing the delay time (Δt) between the preamble (t0) of the previously transmitted signal (OOK signal) and the OOK preamble (t1'-interpolation value) of the feedback signal detected this time, just like Equation 2 of the above.

[0107] Alternatively, in the case of the second embodiment, the distance measuring unit (120) may measure the distance (R) to the target object (object) according to the aforementioned mathematical formula 2 by using c of the mathematical formula 2 as an interpolation value, applying c (0 < c < 1) as an interpolation value to the mathematical formula 2 such that the longer the response processing, the smaller the value, and the shorter the response processing, the larger the value. By measuring / utilizing the delay time (Δt) between the preamble (t0) of the previously transmitted Transmitting Signal (OOK signal) and the OOK preamble (t1') of the current Feedback signal, the distance (R) to the target object (object) may be measured.

[0108] As described above, the present invention proposes a structure that fuses and incorporates a photodiode and an IR laser (e.g., a photodetector and an IR laser panel) usable in a LiDAR sensor, and realizes a specific technical configuration that enables not only distance measurement and detection with a target object (e.g., an OOK signal) but also simultaneous transmission of high-speed optical wireless communication data (e.g., VLC data) by using this structure.

[0109] Furthermore, the LiDAR-VLC communication device (100) of the present invention may include a channel analysis unit (130).

[0110] The channel analysis unit (130) is responsible for the function of utilizing a previously learned prediction model (135) that reflects the optical channel variability of signal transmission and reception, so that the optical channel state predicted from the Transmitting Signal (OOK signal) transmitted by the LiDAR sensor (110) and the received Feedback signal is used to optimize the OOK signal output of the IR laser panel (112).

[0111] In the present invention, we aim to realize a technical configuration that adaptively optimizes the transmission of a Transmitting Signal (e.g., OOK signal) according to varying optical channel conditions, such as weather conditions and signal-to-noise ratio (SNR), by utilizing a prediction model that has been trained / generated by applying a deep learning algorithm.

[0112] To this end, in the present invention, a "prediction model (135)" reflecting optical channel variability of signal transmission and reception can be learned / generated by performing learning using a deep learning method.

[0113] Thus, the prediction model (135) generated by learning in the present invention can be defined as a model generated through deep learning by learning feedback signals collected in different weather conditions and / or different signal-to-noise ratio (SNR) conditions for an OOK signal (Transmitting Signal) transmitted from an IR laser panel, and predicting and outputting the weather conditions and / or signal-to-noise ratio at the time of input for the input of the transmitted OOK signal and the feedback signal.

[0114] More specifically, in the present invention, a prediction model (135) can be generated by performing deep learning on a Transmitting Signal (OOK signal) transmitted from an IR laser panel equipped in the LiDAR-VLC communication device (100) of the present invention so that a learning data set collected and generated converges to an actual optical channel condition (e.g., weather condition, SNR, etc.).

[0115] More specifically, in the present invention, as a learning data set used when learning / generating a prediction model (135) that reflects optical channel variability, a data set can be generated / utilized by collecting a Transmitting Signal (OOK signal) transmitted through an IR laser panel provided in the LiDAR-VLC communication device (100) of the present invention in different optical channel states (e.g., weather state, SNR, etc.) and feedback signals (i.e., feedback signals reflecting optical channel variability) received in different optical channel states (e.g., weather state, SNR, etc.) due to this Transmitting Signal (OOK signal).

[0116] That is, each training data set can be composed of a transmitting signal (OOK signal), a feedback signal, and information on the actual optical channel conditions at that time (e.g., weather conditions, SNR, etc.).

[0117] Accordingly, in the present invention, a prediction model (135) can be generated by utilizing a training data set collected / generated to reflect optical channel variability as described above, and by performing a deep learning method of training such that the training data set, particularly the Transmitting Signal (OOK signal) / Feedback signal, converges to the actual optical channel condition (e.g., weather condition, SNR, etc.) at that time.

[0118] To continue the explanation of the channel analysis unit (130), the channel analysis unit (130) inputs the Transmitting Signal (OOK signal) transmitted through the IR laser panel (112) provided in the LiDAR-VLC communication device (100) of the present invention and the Feedback signal received through the photo detector (114) based thereon into the prediction model (135) which has been previously learned / generated by reflecting the optical channel variability of signal transmission and reception as described above, and receives from the prediction model (135) the result of predicting the optical channel condition, such as the weather condition and / or SNR at the time of (current) input, for this input.

[0119] As an example, the input form of the Transmitting Signal (OOK signal) and the Feedback signal derived therefrom, which are input to the prediction model (135), may be the form of the OOK preamble of the Transmitting Signal (OOK signal) and the OOK preamble of the Feedback signal detected by the distance measuring unit (120) above.

[0120] In such an embodiment, the Transmitting Signal (OOK signal) / Feedback signal of the training data set may also be in the form of an OOK preamble.

[0121] And, the channel analysis unit (130) can transmit the prediction result from the prediction model (135), i.e., the optical channel state (e.g., weather state, SNR, etc.), to the LiDAR optimization unit (140) so that it can be used to optimize the output of the Transmitting Signal (OOK signal) of the IR laser panel (112).

[0122] As a specific embodiment, the LiDAR optimization unit (140) can optimize LiDAR parameters in the IR laser panel (112) of the LiDAR (110) sensor according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted and output from the prediction model (135).

[0123] Here, the LiDAR parameters may include at least one of the number of output lasers, the output size of each laser, the shape, direction, and angle of the laser beam.

[0124] That is, the LiDAR optimization unit (140) can optimize the output of the Transmitting Signal (OOK signal) of the IR laser panel (112) of the LiDAR sensor by controlling at least one of the LiDAR parameters, namely the number of output lasers, the output size of each laser, the shape, direction, and angle of the laser beam, through an optimization procedure that is defined and implemented for optimizing LiDAR parameters according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted / output from the prediction model (135).

[0125] In this way, according to the present invention, by optimizing the output / transmission of a Transmitting Signal (e.g., OOK signal) adaptively according to the optical channel condition (e.g., weather condition, SNR, etc.) through the optimization of LiDAR parameters of the IR laser panel (112) according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted by the prediction model (135), the distance measurement and detection with respect to an object (object) and the performance of transmitting data (e.g., VLC data) of optical wireless communication can be improved even with changes in the optical channel environment.

[0126] As another embodiment, the LiDAR optimization unit (140) may control the driving of the IR laser panel (112) of the LiDAR (110) sensor according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted and output from the prediction model (135), so that a Transmitting Signal (OOK signal) of optimized transmission power according to the optical channel condition (e.g., weather condition, SNR, etc.) is transmitted from the IR laser panel (112).

[0127] In this way, according to the present invention, by adaptively optimizing the transmission of a Transmitting Signal (e.g., OOK signal) according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted by the prediction model (135), the distance measurement and detection with respect to an object (object) and the performance of transmitting optical wireless communication data (e.g., VLC data) can be improved even with changes in the optical channel environment.

[0128] In particular, regarding the realization of data (e.g., VLC data) transmission in optical wireless communication using a LiDAR sensor (110), the present invention enables immediate optical channel analysis through an immediate feedback signal by simultaneously realizing a LiDAR function (feedback signal). Based on this, the transmission performance of the data (e.g., VLC data) can be improved through adaptive responses such as optimizing the transmission of the Transmitting Signal (e.g., OOK signal) and improving the signal-to-noise ratio.

[0129] Figure 3 is an example diagram showing a system architecture and communication scenario supporting LiDAR-VLC communication proposed in the present invention.

[0130] As illustrated in FIG. 3, the system supporting LiDAR-VLC communication proposed in the present invention may include a LiDAR sensor (110) equipped with an IR Laser panel (112) and Photodetectors (114), Preamble detection (120), Deep Learning (130), and LiDAR Optimization (140).

[0131] Here, the IR Laser panel (112) corresponds to the IR laser panel of FIG. 2, the Photodetectors (114) correspond to the photodetectors of FIG. 2, and the LiDAR sensor (110) corresponds to the LiDAR sensor of FIG. 2.

[0132] And, Preamble detection (120) may be a module that corresponds to the distance measuring unit described in FIG. 2 or is responsible for the function of detecting the preamble part of the distance measuring unit.

[0133] Deep Learning (130) corresponds to the channel analysis unit (130) described in FIG. 2, and in particular corresponds to the prediction model (135).

[0134] LiDAR Optimization (140) may correspond to the LiDAR optimization unit (140) of FIG. 2.

[0135] Accordingly, as illustrated in FIG. 3, in a system supporting LiDAR-VLC communication proposed in the present invention, a LiDAR function for detecting an object (object) and a function for transmitting optical wireless communication data (e.g., VLC data) (hereinafter, VLC function) can be performed simultaneously using a LiDAR sensor (110).

[0136] As described in the specific embodiments above, according to the present invention, a novel LiDAR and visible light-based communication method is realized through a structure that fuses / equippes a photodiode and an IR laser (e.g., a photodetector and an IR laser panel) usable in a LiDAR sensor, thereby enabling not only distance measurement and detection with respect to an object but also simultaneous transmission of optical wireless communication data (e.g., VLC data) by transmitting a single transmitting signal (e.g., OOK signal).

[0137] Accordingly, the present invention enables more accurate distance measurement to an object compared to existing LiDAR-based object detection technology, thereby improving the accuracy of object detection, and simultaneously enables high-speed data transmission (e.g., VLC data) via optical wireless communication.

[0138] In particular, according to the present invention, by utilizing a prediction model that has been trained / generated by applying a deep learning algorithm, a technical configuration is realized that adaptively optimizes the transmission of a Transmitting Signal (e.g., OOK signal) according to optical channel conditions such as weather and SNR, thereby enabling the effect of improving distance measurement and data transmission performance (e.g., VLC data) even with various changes in the optical channel.

[0139] Meanwhile, to further explain additional embodiments, in the present invention, a matched filter can be selectively applied to detect a preamble when measuring the distance to an object by utilizing the analysis results of the channel analysis unit (130) mentioned above.

[0140] For example, in OWC technology, the zero crossing filter is most widely used as a technique to detect the preamble portion to extract the frame start point of the received data during the data decoding process.

[0141] As the name suggests, the zero crossing filter is a filter that distinguishes ON / OFF for a received signal based on a threshold level of 0, and the performance of preamble position detection depends on the optical channel environment.

[0142] In other words, zero-crossing filters exhibit good performance in excellent environments where the signal-to-noise ratio (SNR) of the optical channel is high, but their performance deteriorates in poor environments where the SNR is low, as it is difficult to clearly distinguish between ON and OFF states.

[0143] Accordingly, the distance measuring unit (120) can measure the distance to an object by detecting the preamble portion of the feedback signal in a manner similar to the previously described embodiment, when the optical channel condition is poor according to the analysis result of the channel analysis unit (130) (e.g., when the predicted SNR is below the value according to the condition), by applying a matched filter.

[0144] On the other hand, the distance measuring unit (120) may perform distance measurement with respect to an object by detecting the preamble portion of the feedback signal, such as by applying a zero crossing filter, in a manner that does not apply a matched filter, when the optical channel condition is excellent according to the analysis result of the channel analysis unit (130) set earlier (e.g., when the predicted SNR is greater than the value according to the condition).

[0145] Thus, in the present invention, by detecting the preamble portion of the feedback signal and measuring the distance to the target object in a manner that selectively applies a matched filter only when necessary depending on the optical channel environment, the matched filter is selectively applied only when necessary to maintain / improve the accuracy of target object detection, thereby minimizing processing delays and increased computations that may be caused by the application of the matched filter.

[0146] Hereinafter, the operation flow of a LiDAR-VLC communication method according to an embodiment of the present invention will be described in detail with reference to FIG. 6.

[0147] For convenience of explanation, a LiDAR-VLC communication device (100) is referred to as the entity performing the LiDAR-VLC communication method proposed in the present invention, and will be explained with reference to FIG. 3.

[0148] According to the LiDAR-VLC communication method according to an embodiment of the present invention, a "prediction model (135)" reflecting optical channel variability of signal transmission and reception can be learned / generated through deep learning method learning (S1).

[0149] More specifically, in the present invention, a prediction model (135) can be generated by performing deep learning on a Transmitting Signal (OOK signal) transmitted from an IR laser panel equipped in the LiDAR-VLC communication device (100) of the present invention so that a learning data set collected and generated converges to an actual optical channel condition (e.g., weather condition, SNR, etc.).

[0150] More specifically, in the present invention, as a learning data set used when learning / generating a prediction model (135) that reflects optical channel variability, a data set can be generated / utilized by collecting a Transmitting Signal (OOK signal) transmitted through an IR laser panel provided in the LiDAR-VLC communication device (100) of the present invention in different optical channel states (e.g., weather state, SNR, etc.) and feedback signals (i.e., feedback signals reflecting optical channel variability) received in different optical channel states (e.g., weather state, SNR, etc.) due to this Transmitting Signal (OOK signal).

[0151] That is, each training data set can be composed of a transmitting signal (OOK signal), a feedback signal, and information on the actual optical channel conditions at that time (e.g., weather conditions, SNR, etc.).

[0152] Accordingly, according to the LiDAR-VLC communication method of the embodiment of the present invention, a prediction model (135) can be generated by utilizing a training data set collected / generated to reflect optical channel variability as described above, and by performing a deep learning method of training such that the training data set, particularly the Transmitting Signal (OOK signal) / Feedback signal, converges to the actual optical channel condition (e.g., weather condition, SNR, etc.) at that time.

[0153] And according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) generates a transmitting signal for a LiDAR function and transmits (irradiates / radiates) it from the IR laser panel (112) of the LiDAR sensor (110) (S10).

[0154] At this time, when the LiDAR-VLC communication device (100) has a function for transmitting optical wireless communication data (e.g., VLC data), i.e., the VLC function is On, it can encode the data to be transmitted in a preset manner (e.g., OOK encoder) and transmit the encoded VLC data by carrying it on the light emitted from the IR laser panel (112) of the LiDAR sensor (110), i.e., the Transmitting Signal for the LiDAR function (S10, S20).

[0155] Accordingly, according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) can receive a feedback signal (Feedback signal) based on the Transmitting Signal (OOK signal) transmitted (irradiated / radiated) in step S20 through the photo detector (114) of the LiDAR sensor (110) (S30).

[0156] According to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) can detect a preamble portion (e.g., t1) of the feedback signal by applying a matched filter to the feedback signal received in step S30 (S40, see FIG. 4).

[0157] And, according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) can measure / utilize the delay time (Δt) between the OOK preamble (t0) of the previously transmitted Transmitting Signal (OOK signal) and the OOK preamble (t1) of the current detected Feedback Signal, and measure the distance (R) to an object (object, e.g., vehicle in front) according to Equation 2 (S50, see FIG. 4).

[0158] Thus, according to the LiDAR-VLC communication method according to the embodiment of the present invention, the LiDAR-VLC communication device (100) can perform a LiDAR function by detecting an actual object (object) based on the distance (R) to the object (object, e.g., a vehicle in front) measured through step S50.

[0159] Meanwhile, according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) inputs a Transmitting Signal (OOK signal) transmitted through an IR laser panel (112) provided in the LiDAR-VLC communication device (100) of the present invention and a Feedback Signal received through a photo detector (114) based thereon to a prediction model (135) that has been learned / generated in step S1, and receives a result from the prediction model (135) that predicts the optical channel conditions, such as the weather conditions and / or SNR at the time of (current) input, for the input (S60).

[0160] As an example, the input form of the Transmitting Signal (OOK signal) and the Feedback signal derived therefrom, which are input to the prediction model (135), may be the form of the OOK preamble of the Transmitting Signal (OOK signal) and the OOK preamble of the Feedback signal detected by step S40.

[0161] In such an embodiment, the Transmitting Signal (OOK signal) / Feedback signal of the training data set may also be in the form of an OOK preamble.

[0162] And, according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) can optimize the output of the Transmitting Signal (OOK signal) of the IR laser panel (112) by using the prediction result from the prediction model (135), i.e., the optical channel state (e.g., weather state, SNR, etc.) (S70).

[0163] As a specific embodiment, the LiDAR-VLC communication device (100) can optimize LiDAR parameters in the IR laser panel (112) of the LiDAR (110) sensor according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted and output from the prediction model (135).

[0164] Here, the LiDAR parameters may include at least one of the number of output lasers, the output size of each laser, the shape, direction, and angle of the laser beam.

[0165] That is, the LiDAR-VLC communication device (100) can optimize the output of the Transmitting Signal (OOK signal) of the IR laser panel (112) of the LiDAR (110) sensor by controlling at least one of the LiDAR parameters, namely the number of output lasers, the output size of each laser, the shape, direction, and angle of the laser beam, through an optimization procedure that is predefined / implemented for optimizing LiDAR parameters according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted / output from the prediction model (135) (S70).

[0166] As another embodiment, the LiDAR-VLC communication device (100) may control the driving of the IR laser panel (112) of the LiDAR (110) sensor according to the optical channel condition (e.g., weather condition, SNR, etc.) predicted and output from the prediction model (135), so that a Transmitting Signal (OOK signal) with an optimized transmission power according to the optical channel condition (e.g., weather condition, SNR, etc.) is transmitted from the IR laser panel (112).

[0167] According to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) can continue to perform steps S10 and S20, which transmit VLC data by carrying it on a transmitting signal for the LiDAR function—that is, an illumination emitted from the IR laser panel (112) of the LiDAR sensor (110)—and subsequent steps, as long as both the LiDAR function and the VLC function are not turned off (S80 No).

[0168] If only the LiDAR function is turned off, according to the LiDAR-VLC communication method according to an embodiment of the present invention, the LiDAR-VLC communication device (100) repeats steps S10 and S20 and subsequent steps, in which VLC data is carried on a transmitting signal for the LiDAR function, that is, an illumination emitted from the IR laser panel (112) of the LiDAR sensor (110), and then transmitted, as described above, but may omit part of step S50 (distance measurement).

[0169] If only the VLC function is turned off, according to the LiDAR-VLC communication method of the embodiment of the present invention, the LiDAR-VLC communication device (100) may repeat steps S10 and S20, which emit illumination (no VLC data) from the IR laser panel (112) of the LiDAR sensor (110) for the LiDAR function, and subsequent steps.

[0170] The LiDAR-VLC communication method according to one embodiment of the present invention described above may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either individually or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the present invention, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The above-described hardware device may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

[0171] Although the present invention has been described in detail with reference to preferred embodiments, the present invention is not limited to the above-described embodiments, and the technical concept of the present invention extends to the scope in which various modifications or alterations are possible by anyone with ordinary knowledge in the technical field to which the present invention belongs, without departing from the gist of the present invention as claimed in the following claims. Industrial applicability

[0172] According to the present invention, by proposing a new technological solution that improves the accuracy of object detection through more accurate distance measurement with respect to an object compared to existing LiDAR-based object detection technology, while simultaneously realizing high-speed data transmission via optical wireless communication for distance measurement, the invention overcomes the limitations of existing technology. As such, it is an invention with industrial applicability, as it not only offers sufficient potential for the commercialization or business of the applied device rather than just the use of the related technology, but is also practically and clearly implementable.

Claims

Claim 1 A LiDAR sensor equipped with an IR (Infrared Radiation) laser panel and a photodetector, transmitting VLC data through an OOK (On-off keying) signal transmitted from the IR laser panel and receiving a feedback signal derived from the transmitted OOK signal through the photodetector; and a distance measuring unit that measures the distance to an object in the signal transmission and reception direction using the transmitted OOK signal and the received feedback signal. It includes a channel analysis unit that utilizes a pre-trained prediction model reflecting the optical channel variability of signal transmission and reception, and uses the optical channel state predicted from the transmitted OOK signal and the received feedback signal to optimize the OOK signal output of the IR laser panel; the OOK signal includes a frame structure, and the frame structure includes a preamble indicating the frame start point; the distance measurement unit detects the OOK preamble portion for extracting the frame start point from the feedback signal, and measures the distance to the object by measuring the delay time between the preamble of the transmitted OOK signal and the OOK preamble of the detected feedback signal by correlating the preamble included in the transmitted OOK signal and indicating the frame start point with the OOK preamble of the detected feedback signal, and utilizes the analysis result of the channel analysis unit to distinguish whether the optical channel state is excellent or poor according to a pre-set condition, detects the OOK preamble portion for the feedback signal by applying a zero crossing filter when the optical channel state is excellent, and when the optical channel state is poor, applies a matched filter A LiDAR and Visible Light-based communication device in which the operation of the distance measuring unit is controlled to detect the OOK preamble portion of the feedback signal by applying a filter. Claim 2 A LiDAR and Visible Light-based communication device according to claim 1, wherein the previously learned prediction model is a model generated through deep learning training to learn feedback signals collected in different weather conditions and / or different signal-to-noise ratio (SNR) conditions for an OOK signal transmitted from the IR laser panel, and to predict and output the weather conditions and / or signal-to-noise ratio at the time of input for the input of the transmitted OOK signal and the feedback signal. Claim 3 A LiDAR and Visible Light-based communication device according to claim 2, further comprising a LiDAR optimization unit that optimizes LiDAR parameters in the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio (SNR) predicted and output from the prediction model; wherein the LiDAR parameters include at least one of the number of output lasers, the output magnitude of each laser, and the shape, direction, and angle of the laser beam. Claim 4 A LiDAR and Visible Light-based communication device according to claim 2, further comprising a LiDAR optimization unit that controls the driving of the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio (SNR) predicted and output from the prediction model, so that an OOK signal of optimized transmission power is transmitted from the IR laser panel. Claim 5 delete Claim 6 delete Claim 7 A LiDAR and Visible Light-based communication device according to claim 1, wherein the feedback signal resulting from the transmitted OOK signal is a signal received by reflecting the transmitted OOK signal, or an OOK signal that responds to the transmitted OOK signal from another device. Claim 8 A LiDAR and Visible Light-based communication device according to claim 7, wherein the distance measuring unit, when the feedback signal is an OOK signal responded to by the other device, applies an interpolation value related to the response processing at the other device to the feedback signal and then uses it for measuring the distance to the object. Claim 9 A method for communication based on LiDAR and visible light, wherein a device supporting communication based on LiDAR and visible light comprises: a step of transmitting VLC data through an OOK signal transmitted from the IR laser panel of the LiDAR sensor, wherein the device comprises: a step of receiving a feedback signal derived from the transmitted OOK signal through the photo detector of the LiDAR sensor; a distance measurement step wherein the device measures the distance to an object in the direction of signal transmission and reception using the transmitted OOK signal and the received feedback signal; and a channel analysis step wherein the device utilizes a pre-trained prediction model reflecting the optical channel variability of signal transmission and reception so that the optical channel state predicted from the transmitted OOK signal and the received feedback signal is used to optimize the OOK signal output of the IR laser panel.A LiDAR and Visible Light-based communication method wherein the above OOK signal includes a frame structure, the frame structure includes a preamble indicating a frame start point, and the distance measurement step detects an OOK preamble portion for extracting a frame start point from the feedback signal, and measures the distance to the object by measuring the delay time between the preamble of the transmitted OOK signal and the OOK preamble of the detected feedback signal by correlating the preamble included in the transmitted OOK signal and indicating a frame start point with the OOK preamble of the detected feedback signal, and utilizes the analysis result of the channel analysis step to distinguish whether the optical channel condition is excellent or poor according to a preset condition, detects an OOK preamble portion for the feedback signal by applying a zero crossing filter when the optical channel condition is excellent, and detects an OOK preamble portion for the feedback signal by applying a matched filter when the optical channel condition is poor. Claim 10 delete Claim 11 A LiDAR and Visible Light-based communication method according to claim 9, wherein the previously learned prediction model is a model generated through deep learning training to learn feedback signals collected in different weather conditions and / or different signal-to-noise ratio (SNR) conditions for an OOK signal transmitted from the IR laser panel, and to predict and output the weather conditions and / or signal-to-noise ratio at the time of input for the input of the transmitted OOK signal and the feedback signal. Claim 12 A LiDAR and Visible Light-based communication method according to claim 11, further comprising a LiDAR optimization step for optimizing LiDAR parameters in the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio predicted and output from the prediction model; wherein the LiDAR parameters include at least one of the number of output lasers, the output magnitude of each laser, the shape, direction, and angle of the laser beam. Claim 13 A LiDAR and Visible Light-based communication method according to claim 11, further comprising a LiDAR optimization step of controlling the driving of the IR laser panel of the LiDAR sensor according to the optical channel state of the weather condition and / or signal-to-noise ratio predicted and output from the prediction model, so that an OOK signal of optimized transmission power is transmitted from the IR laser panel. Claim 14 A step of transmitting VLC data through an OOK signal transmitted from an IR laser panel of a LiDAR sensor equipped with an IR laser panel and a photodetector, combined with hardware; a step of receiving a feedback signal derived from the transmitted OOK signal through a photodetector equipped in the LiDAR sensor; and a distance measurement step of measuring the distance to an object in the signal transmission / reception direction using the transmitted OOK signal and the received feedback signal. A medium is stored to execute a channel analysis step in which the optical channel state predicted from the transmitted OOK signal and the received feedback signal is utilized to optimize the OOK signal output of the IR laser panel by utilizing a pre-trained prediction model that reflects the optical channel variability of the signal transmission and reception; the OOK signal includes a frame structure, and the frame structure includes a preamble indicating the frame start point; the distance measurement step detects the OOK preamble portion for extracting the frame start point from the feedback signal, and measures the distance to the object by measuring the delay time between the preamble of the transmitted OOK signal and the OOK preamble of the detected feedback signal by correlating the preamble included in the transmitted OOK signal and indicating the frame start point with the OOK preamble of the detected feedback signal, and utilizes the analysis result of the channel analysis step to distinguish whether the optical channel state is excellent or poor according to a pre-set condition, detects the OOK preamble portion for the feedback signal by applying a zero crossing filter when the optical channel state is excellent, and when the optical channel state is poor A computer program stored on a medium that detects the OOK preamble portion of the feedback signal by applying a matched filter. Claim 15 A computer-readable recording medium having a program recorded thereon that performs the method of any one of claims 9, 11 through 13.

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