公开(公告)号：US11573095B2

公开(公告)日：2023-02-07

申请号：US17074468

申请日：2020-10-19

Applicant: TUSIMPLE, INC.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06V20/56 ,  G01S17/89 ,  G01S17/86

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US10373003B2

公开(公告)日：2019-08-06

申请号：US15683463

申请日：2017-08-22

Applicant: TUSIMPLE

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G06K9/00 ,  G01S19/01 ,  B60W40/072 ,  G06T7/246

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth; off-line training a lane detection algorithm by using the ground truth, the lane detection algorithm using parameters that express a lane marking in an arc; on-line generating a predicted lane marking; comparing the predicted lane marking against the ground truth; and off-line refining the lane detection algorithm.

公开(公告)号：US20210278221A1

公开(公告)日：2021-09-09

申请号：US17320888

申请日：2021-05-14

Applicant: TUSIMPLE, INC.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G01C21/30

Abstract: Various embodiments provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.

公开(公告)号：US11009365B2

公开(公告)日：2021-05-18

申请号：US15896077

申请日：2018-02-14

Applicant: TuSimple, Inc.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/36 ,  G01C21/32 ,  G01S13/89 ,  G01S17/89 ,  G01S19/13

Abstract: Various embodiments of the present disclosure provide a system and method for lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a camera; and a computer connected to the locating device, database, and camera, wherein the computer is adapted to: receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and generate a predicted vehicle location based on the comparison of the response map and the region map.

公开(公告)号：US10816354B2

公开(公告)日：2020-10-27

申请号：US15683441

申请日：2017-08-22

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06K9/00 ,  G01S17/89 ,  G01S17/86

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US12202520B2

公开(公告)日：2025-01-21

申请号：US18316895

申请日：2023-05-12

Applicant: TUSIMPLE, INC.

Inventor： Zhujia Shi ,  Mingdong Wang

IPC: B60W60/00 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W30/14 ,  B60W30/18 ,  B60W40/04 ,  B60W40/06 ,  G01C21/34 ,  G08G1/16

Abstract: A method of operating an autonomous vehicle includes detecting, based on an input received from a sensor of an autonomous vehicle that is being navigated by an on-board computer system, an occurrence of a driving event, making a determination by the on-board computer system, upon the detecting the occurrence of the driving event, whether or how to alter the path planned by the on-board computer system according to a set of rules, and performing further navigation of the autonomous vehicle based on the determination until the driving event is resolved. The driving event may include a presence of an object in a shoulder area of the road. The driving event may include accumulation of more than a certain number of vehicles behind the autonomous vehicle. The driving event may include a slow vehicle ahead of the autonomous vehicle. The driving event may include a do-not-change-lane zone is within a threshold.

公开(公告)号：US11948082B2

公开(公告)日：2024-04-02

申请号：US17401781

申请日：2021-08-13

Applicant: TUSIMPLE, INC.

Inventor： Zhipeng Yan ,  Mingdong Wang ,  Siyuan Liu ,  Xiaodi Hou

IPC: G06N3/08 ,  B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02 ,  G06F18/20 ,  G06N5/046 ,  G06N7/01 ,  G06V10/764 ,  G06V20/58

CPC classification number: G06N3/08 ,  B60W30/09 ,  B60W30/0956 ,  G05D1/027 ,  G06F18/295 ,  G06N5/046 ,  G06N7/01 ,  G06V10/764 ,  G06V20/58 ,  G06V20/584 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2556/50 ,  B60W2556/60

Abstract: A system and method for proximate vehicle intention prediction for autonomous vehicles are disclosed. A particular embodiment is configured to: receive perception data associated with a host vehicle; extract features from the perception data to detect a proximate vehicle in the vicinity of the host vehicle; generate a trajectory of the detected proximate vehicle based on the perception data; use a trained intention prediction model to generate a predicted intention of the detected proximate vehicle based on the perception data and the trajectory of the detected proximate vehicle; use the predicted intention of the detected proximate vehicle to generate a predicted trajectory of the detected proximate vehicle; and output the predicted intention and predicted trajectory for the detected proximate vehicle to another subsystem.

公开(公告)号：US11874130B2

公开(公告)日：2024-01-16

申请号：US18158974

申请日：2023-01-24

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06V20/56 ,  G01S17/89 ,  G01S17/86

CPC classification number: G01C21/3658 ,  G06V20/588 ,  G01S17/86 ,  G01S17/89 ,  G06V2201/10

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US11740093B2

公开(公告)日：2023-08-29

申请号：US17320888

申请日：2021-05-14

Applicant: TUSIMPLE, INC.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/30

CPC classification number: G01C21/30

Abstract: Various embodiments provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.

公开(公告)号：US11852498B2

公开(公告)日：2023-12-26

申请号：US17308803

申请日：2021-05-05

Applicant: TUSIMPLE, INC.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/36 ,  G01C21/32 ,  G01S13/89 ,  G01S17/89 ,  G01S19/13

CPC classification number: G01C21/3602 ,  G01C21/32 ,  G01S13/89 ,  G01S17/89 ,  G01S19/13

Abstract: Various embodiments of the present disclosure provide a system and method for lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In the embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a camera; and a computer connected to the locating device, database, and camera, wherein the computer is adapted to: receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information form the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and generate a predicted vehicle location based on the comparison of the response map and region map.