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

Claim 1:
2. 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.