公开(公告)号：US20250050913A1

公开(公告)日：2025-02-13

申请号：US18486809

申请日：2023-10-13

Applicant: TuSimple, Inc.

Inventor： Zhe CHEN ,  Lingting GE ,  Joshua Miguel RODRIGUEZ ,  Ji HAN ,  Panqu WANG ,  Junjun XIN ,  Xiaoling HAN ,  Yizhe ZHAO

IPC: B60W60/00

Abstract: Techniques are described for operating a vehicle using sensor data provided by one or more ultrasonic sensors located on or in the vehicle. An example method includes receiving, by a computer located in a vehicle, data from an ultrasonic sensor located on the vehicle, where the data includes a first set of coordinates of two points associated with a location where an object is detected by the ultrasonic sensor; determining a second set of coordinates associated with a point in between the two points; performing a first determination that the second set of coordinates is associated with a lane or a road on which the vehicle is operating; performing a second determination that the object is movable; and sending, in response to the first determination and the second determination, a message that causes the vehicle to perform a driving related operation while the vehicle is operating on the road.

公开(公告)号：US20250029274A1

公开(公告)日：2025-01-23

申请号：US18488657

申请日：2023-10-17

Applicant: TuSimple, Inc.

Inventor： Yizhe ZHAO ,  Zhe CHEN ,  Ye FAN ,  Lingting GE ,  Zhe HUANG ,  Panqu WANG ,  Xue MEI

IPC: G06T7/73 ,  G06V20/58

Abstract: The present disclosure provides methods and systems of sampling-based object pose determination. An example method includes obtaining, for a time frame, sensor data of the object acquired by a plurality of sensors; generating a two-dimensional bounding box of the object in a projection plane based on the sensor data of the time frame; generating a three-dimensional pose model of the object based on the sensor data of the time frame and a model reconstruction algorithm; generating, based on the sensor data, the pose model, and multiple sampling techniques, a plurality of pose hypotheses of the object corresponding to the time frame, generating a hypothesis projection of the object for each of the pose hypotheses by projecting the pose hypothesis onto the projection plane; determining evaluation results by comparing the hypothesis projections with the bounding box; and determining, based on the evaluation results, an object pose for the time frame.

公开(公告)号：US20250042369A1

公开(公告)日：2025-02-06

申请号：US18486874

申请日：2023-10-13

Applicant: TuSimple, Inc.

Inventor： Yizhe ZHAO ,  Zhe CHEN ,  Lingting GE ,  Panqu WANG

IPC: B60T7/22 ,  B62D15/02 ,  G06T7/60 ,  G06T7/70 ,  G06V10/12 ,  G06V20/58

Abstract: Techniques are described for determining a set of pose information for an object when multiple sets of pose information are determined for a same object from multiple images. An example driving operation method includes obtaining, by a computer located in a vehicle, at least two sets of pose information related to an object located on a road on which the vehicle is operating, where each set of pose information includes characteristic(s) about the object, and where each set of pose information is determined from an image obtained by a camera; determining at least two weighted output vectors; determining, for the object, a set of pose information that are based on a combined weighted output vector that is obtained by combining the at least two weighted output vectors; and causing the vehicle to perform a driving-related operation using the set of pose information for the object.

公开(公告)号：US20240265710A1

公开(公告)日：2024-08-08

申请号：US18475647

申请日：2023-09-27

Applicant: TuSimple, Inc.

Inventor： Zhe CHEN ,  Yizhe ZHAO ,  Lingting GE ,  Panqu WANG

IPC: G06V20/58 ,  B60W60/00 ,  G06T7/246 ,  G06T7/73 ,  G06V10/70 ,  G06V10/776

CPC classification number: G06V20/58 ,  B60W60/001 ,  G06T7/248 ,  G06T7/74 ,  G06V10/776 ,  G06V10/87 ,  B60W2420/403 ,  B60W2552/15 ,  B60W2556/40 ,  B60W2720/10 ,  G06T2207/30252

Abstract: The present disclosure provides methods and systems for operating an autonomous vehicle. In some embodiments, the system may obtain, by a camera associated with an autonomous vehicle, an image of an environment of the autonomous vehicle, the environment including a road on which the autonomous vehicle is operating and an occlusion on the road. The system may identify the occlusion in the image based on map information of the environment and at least one camera parameter of the camera for obtaining the image. The system may identify an object represented in the image, and determine a confidence score relating to the object. The confidence score may indicate a likelihood a representation of the object in the image is impacted by the occlusion. The system may determine an operation algorithm based on the confidence score; and cause the autonomous vehicle to operate based on the operation algorithm.