Abstract: Currently, ultrasonic sensors are mainly used for short-range measurements in low-speed autonomous mobile robots. The ranging methods employed often treat crosstalk interference as an interference term in the useful signal and try to eliminate it as much as possible. Based on long-range ultrasonic sensors, this paper designs a method for long-range measurement of land autonomous vehicles using crosstalk interference. Experimental results show that the reliability and accuracy of this method meet the distance detection requirements of land autonomous vehicles. Keywords: Ultrasonic sensor array; Autonomous Land Vehicle; Distance measurement; Pseudo-random code; Triangulation ABSTRACT: So far, ultrasonic sensors have been mainly used for short-distance measurement in autonomous mobile robots that move slowly. Distance measurement algorithms have been tried to eliminate crosstalk, which has traditionally been considered undesirable for signal transmission. Based on the successful development of ultrasonic sensors for long operating distances, this paper presents a novel method that relies on the crosstalk phenomenon and allows the ultrasonic sensor to be used for long-distance measurement in Autonomous Land Vehicles at high speeds. The experimental results meet the reliability and precision requirements for distance measurement in Autonomous Land Vehicles. KEYWORDS: Ultrasonic Sensor Array; Autonomous Land Vehicle; Distance measurement; Pseudo-random code; Triangulation 1. Introduction Autonomous Land Vehicles (ALVs), also known as outdoor mobile robots, rely on real-time distance measurement in their detection systems as a key technology for achieving autonomous driving. Ultrasonic sensors have been widely used in mobile robot ranging systems at home and abroad due to their advantages of being unaffected by light, low price and easy installation. However, ultrasonic waves have a slow propagation speed, and ultrasonic ranging cannot keep up with the real-time changes in distance when a car is traveling at high speed; ultrasonic waves have poor directionality and large beam angle, and the reflected signal is too weak and the sensitivity decreases when performing long-distance measurements; most of the ultrasonic sensors produced in China cannot detect objects more than 15m away [1]. The Airducer AR30 ultrasonic sensor produced by AIRMAR in the United States has a working distance of up to 30m, but it is expensive. Therefore, ultrasonic sensors are generally used for short-distance measurements of robots running at low speed in static environments [2], and cannot be used as forward-looking sensors for high-speed autonomous land vehicles. The long-distance ultrasonic sensor developed by the National University of Defense Technology has a maximum working distance of more than 32m [3]. Based on this, this paper studies the ranging algorithm and obtains a triangular ranging algorithm based on pseudo-random codes, which is suitable for long-distance ranging of high-speed autonomous land vehicles. For details, please click: Ranging of Autonomous Land Vehicles Based on Ultrasonic Sensor Array