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1.发明公开公开(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
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.
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2.发明公开公开(公告)号：US20230160712A1
公开(公告)日：2023-05-25
申请号：US18158974
申请日：2023-01-24
Applicant: TuSimple, Inc.
Inventor： Siyuan LIU , Mingdong WANG , Xiaodi HOU
CPC classification number: G01C21/3658 , G06V20/588 , G01S17/89
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.
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3.发明公开公开(公告)号：US20230408284A1
公开(公告)日：2023-12-21
申请号：US18449340
申请日：2023-08-14
Applicant: TuSimple, Inc.
Inventor： Siyuan LIU , Mingdong WANG , Xiaodi HOU
CPC classification number: G01C21/3658 , G01S17/89 , G06V20/588
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.
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公开(公告)号：US20210398310A1
公开(公告)日：2021-12-23
申请号：US16909987
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Zehua HUANG , Yijie WANG
Abstract: Image processing techniques are described to receive bounding box information that describes a bounding box located around a detected obj ect in an image, determine one or more positions of one or more reference points on the bounding box, determine, for each reference point, 3D world coordinates of a point of intersection of the reference point and the road surface, and assign the 3D world coordinates of the one or more reference points to a location of the detected object.
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公开(公告)号：US20210397867A1
公开(公告)日：2021-12-23
申请号：US16909962
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Chenzhe QIAN , Yijie WANG , Zehua HUANG , Xiaodi HOU
Abstract: Image processing techniques are described to select and crop a region of interest from an image obtained from a camera located on or in a vehicle, such as an autonomous semi-trailer truck. The region of interest can be identified by selecting one or more reference points and determining one or more positions of the one or more reference points on the image obtained from the camera. As an example, a location of two reference points may be 500 meters and 1000 meters in front of a location of autonomous vehicle, where the front of the autonomous vehicle is an area towards which the autonomous vehicle is being driven.
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Patent Agency Ranking
公开(公告)号：US20190004868A1
公开(公告)日：2019-01-03
申请号：US15640510
申请日：2017-07-01
Applicant: TuSimple
Inventor： Kai ZHOU , Siyuan LIU
Abstract: A system and method for distributed graphics processing unit (GPU) computation are disclosed. A particular embodiment includes: receiving a user task service request from a user node; querying resource availability from a plurality of slave nodes having a plurality of graphics processing units (GPUs) thereon; assigning the user task service request to a plurality of available GPUs based on the resource availability and resource requirements of the user task service request, the assigning including starting a service on a GPU using a distributed processing container and creating a corresponding uniform resource locator (URL); and retaining a list of URLs corresponding to the resources assigned to the user task service request.
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7.发明申请公开(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.
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8.发明公开公开(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.
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公开(公告)号：US20240046654A1
公开(公告)日：2024-02-08
申请号：US18489306
申请日：2023-10-18
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Siyuan LIU , Lingting GE , Zehua HUANG
CPC classification number: G06V20/56 , G06T7/30 , G05D1/0246 , G06V20/584 , G06V10/803 , G06V10/811 , B60R2300/303 , G05D2201/0213
Abstract: Devices, systems and methods for fusing scenes from real-time image feeds from on-vehicle cameras in autonomous vehicles to reduce redundancy of the information processed to enable real-time autonomous operation are described. One example of a method for improving perception in an autonomous vehicle includes receiving a plurality of cropped images, wherein each of the plurality of cropped images comprises one or more bounding boxes that correspond to one or more objects in a corresponding cropped image; identifying, based on the metadata in the plurality of cropped images, a first bounding box in a first cropped image and a second bounding box in a second cropped image, wherein the first and second bounding boxes correspond to a common object; and fusing the metadata corresponding to the common object from the first cropped image and the second cropped image to generate an output result for the common object.
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公开(公告)号：US20190317804A1
公开(公告)日：2019-10-17
申请号：US16275984
申请日：2019-02-14
Applicant: TuSimple
Inventor： Yifan GONG , Zehua HUANG , Jiangming JIN , Dinghua LI , Siyuan LIU , Wei LIU , Lei SU , YiXin YANG
IPC: G06F9/48 , G06F9/54 , G06F16/901
Abstract: The present disclosure provides a method, an apparatus and a system for multi-module scheduling, capable of solving at least one of the problems associated with the multi-module scheduling technique in the related art, i.e., inconsistency in data inputted to a computing module, and a significant delay or low throughput in data transmission between computing modules. The method includes: reading, by a master process, a pre-stored configuration file storing a directed computation graph; initializing, by the master process, states of the nodes and connecting edges in a current computing period; determining a node to be called based on the computation direction of the directed computation graph and the states of the nodes, the node to be called comprising a node having all of its input edges in a complete state; transmitting, to the computing module in the slave process corresponding to the node to be called, a call request of Remote Process Call (RPC) to execute the computing module; updating the state of the node and the state of each output edge of the node upon receiving a response to the call request; and proceeding with a next computing period after determining that the states of all the nodes in the directed computation graph have been updated.
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