公开(公告)号：US20180308250A1

公开(公告)日：2018-10-25

申请号：US15496113

申请日：2017-04-25

Applicant: TuSimple

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06T7/73 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/02 ,  G01S17/88 ,  G06T7/246 ,  G06K9/00 ,  G08G1/04 ,  G08G1/16

Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

公开(公告)号：US20200160071A1

公开(公告)日：2020-05-21

申请号：US16752637

申请日：2020-01-25

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06K9/00 ,  G01S17/88 ,  G01S17/08 ,  G01S17/66 ,  G01S17/58 ,  G01S7/48 ,  G01S17/931 ,  G01S17/86

Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

公开(公告)号：US20230162510A1

公开(公告)日：2023-05-25

申请号：US18090217

申请日：2022-12-28

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/48 ,  G01S17/86 ,  G01S17/931

CPC classification number: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/4808 ,  G01S17/86 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.

公开(公告)号：US20240212363A1

公开(公告)日：2024-06-27

申请号：US18596354

申请日：2024-03-05

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06V20/58 ,  G01S7/48 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/16

CPC classification number: G06V20/58 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.