TABLE 5.

Multi-factor coupling affects the accuracy of lateral deviation detection.

Serial number	Influence factor			Lateral deviation γ/mm	Coefficient of variation/%
	Total number of ultrasonic distance sensor/pcs	Central angle/°	Arc radius/mm
1	5	5	3300	2.77	5.50
2			4300	3.61	4.35
3			5300	4.45	5.00
4		10	3300	10.86	6.50
5			4300	14.15	4.85
6			5300	17.44	7.00
7		15	3300	24.32	6.00
8			4300	31.70	4.85
9			5300	39.07	5.00
10	7	5	3300	2.41	7.40
11			4300	3.14	8.00
12			5300	3.87	7.00
13		10	3300	9.47	7.50
14			4300	12.34	6.95
15			5300	15.21	7.25
16		15	3300	21.22	8.35
17			4300	27.65	9.00
18			5300	39.07	8.50
19	9	5	3300	1.41	6.35
20			4300	1.84	6.00
21			5300	2.26	5.95
22		10	3300	5.53	6.50
23			4300	7.20	7.00
24			5300	8.88	7.50
25		15	3300	12.40	6.25
26			4300	16.13	6.00
27			5300	34.10	6.00