Patent ID: 11933893
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. An electronic device, comprising:
at least one processor; and
a memory communicatively connected with the at least one processor;
wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a method for detecting an obstacle with an ultrasonic radar array, the ultrasonic radar array comprising: N ultrasonic radars evenly mounted on a bumper of an unmanned vehicle, where N is a positive integer; the N ultrasonic radars are distributed from a center to outer sides, with rotation angles gradually increasing towards the outer sides,
if N is an even number, a first ultrasonic radar is horizontally mounted on a left side of a center of the bumper, and a second ultrasonic radar is horizontally mounted on a right side of the center of the bumper; (N−2)/2 ultrasonic radars are mounted on the left side of the first ultrasonic radar from the center to the outer sides with a previous ultrasonic radar as a reference and is rotated away from the previous ultrasonic radar as reference by an angle of α in turn; (N−2)/2 ultrasonic radars are mounted on the right side of the second ultrasonic radar from the center to the outer sides with a previous ultrasonic radar as a reference and is rotated away from the previous ultrasonic radar as the reference by an angle of α in turn;
if N is an odd number, a first ultrasonic radar is horizontally mounted at a center of the bumper, (N−1)/2 ultrasonic radars are mounted on the left side of the first ultrasonic radar from the center to the outer sides with a previous ultrasonic radar as a reference and is rotated away from the previous ultrasonic radar as reference by an angle of α in turn; (N−1)/2 ultrasonic radars are mounted on the right side of the first ultrasonic radar from the center to the outer sides with a previous ultrasonic radar as a reference and is rotated away from the previous ultrasonic radar as reference by an angle of α in turn, and
wherein the number N and the rotation angles gradually increasing towards the outer sides are determined according to a mathematic model of a detection distance and detection shape of each ultrasonic radar, to ensure triple redundancy existing in coverage ranges of the ultrasonic radars, wherein triple redundancy means that a coverage range of three ultrasonic radars are overlapped,
wherein the method comprises:
obtaining obstacle information collected by the ultrasonic radars in the ultrasonic radar array in an obstacle scenario;
judging false detection and missed detection for the obstacle information collected by ultrasonic radars according a preset rule;
processing the obstacle information collected by the ultrasonic radars according to a judgment result;
determining a position of the obstacle according to the processed obstacle information collected by the ultrasonic radars.