根据超声波的作用机理和两种类型回波的不同振幅模式，设计了一种便于工程实现的超声传感器线阵。由该线阵采集到的数据，经过一简洁的经验专家系统，可以确定自主车前方障碍物的距离和方位。实验表明该线阵能成功地引导自主车绕过障碍物。 According to the action mechanism of the ultrasonic wave and the different amplitude modes of the two types of echoes, an ultrasonic sensor array which is easy to be implemented by the project is designed. The data collected by the line array, through a simple expert system of experience, can determine the distance and orientation of an obstacle in front of an autonomous vehicle. Experiments show that the linear array can successfully guide the autonomous vehicle to bypass the obstacle.