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公开(公告)号：US10782694B2
公开(公告)日：2020-09-22
申请号：US15806013
申请日：2017-11-07
Applicant: TuSimple, Inc.
Inventor： Xiaomin Zhang , Yilun Chen , Guangyu Li , Xing Sun , Wutu Lin , Liu Liu , Kai-Chieh Ma , Zijie Xuan , Yufei Zhao
Abstract: A prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment is configured to: receive training data and ground truth data from a training data collection system, the training data including perception data and context data corresponding to human driving behaviors; perform a training phase for training a trajectory prediction module using the training data; receive perception data associated with a host vehicle; and perform an operational phase for extracting host vehicle feature data and proximate vehicle context data from the perception data, generating a proposed trajectory for the host vehicle, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle based on the proposed host vehicle trajectory, determining if the proposed trajectory for the host vehicle will conflict with any of the predicted trajectories of the proximate vehicles, and modifying the proposed trajectory for the host vehicle until conflicts are eliminated.
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公开(公告)号：US10762673B2
公开(公告)日：2020-09-01
申请号：US15684363
申请日：2017-08-23
Applicant: TuSimple, Inc.
IPC: G06T11/00 , G01S17/89 , G01C21/26 , G06K9/46 , G06K9/62 , G01C21/20 , G01C21/32 , G01S5/16 , G06K9/00 , G01S17/86 , G01S17/931 , G01S19/47 , G01S19/48
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes.
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公开(公告)号：US20200265244A1
公开(公告)日：2020-08-20
申请号：US16867472
申请日：2020-05-05
Applicant: TUSIMPLE, INC.
Inventor： Zehua HUANG , Pengfei CHEN , Panqu WANG
Abstract: A system and method for semantic segmentation using hybrid dilated convolution (HDC) are disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image; performing a convolution operation on the feature map and producing multiple convolution layers; grouping the multiple convolution layers into a plurality of groups; applying different dilation rates for different convolution layers in a single group of the plurality of groups; and applying a same dilation rate setting across all groups of the plurality of groups.
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公开(公告)号：US10710592B2
公开(公告)日：2020-07-14
申请号：US15481877
申请日：2017-04-07
Applicant: TuSimple, Inc.
Inventor： Wutu Lin , Xiaodi Hou
IPC: B60W40/04 , G01S13/931 , G01C21/20 , G05D1/02 , G05D1/00 , G01S17/931 , G01S13/86
Abstract: A system and method for path planning of autonomous vehicles based on gradient are disclosed. A particular embodiment includes: generating and scoring a first suggested trajectory for an autonomous vehicle; generating a trajectory gradient based on the first suggested trajectory; generating and scoring a second suggested trajectory for the autonomous vehicle, the second suggested trajectory being based on the first suggested trajectory and a human driving model; and outputting the second suggested trajectory if the score corresponding to the second suggested trajectory is within a score differential threshold relative to the score corresponding to the first suggested trajectory.
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公开(公告)号：US20200184232A1
公开(公告)日：2020-06-11
申请号：US16792129
申请日：2020-02-14
Applicant: TUSIMPLE, INC.
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
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Patent Agency Ranking
公开(公告)号：US10679074B2
公开(公告)日：2020-06-09
申请号：US16209262
申请日：2018-12-04
Applicant: TuSimple, Inc.
Inventor： Zehua Huang , Pengfei Chen , Panqu Wang
Abstract: A system and method for semantic segmentation using hybrid dilated convolution (HDC) are disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image; performing a convolution operation on the feature map and producing multiple convolution layers; grouping the multiple convolution layers into a plurality of groups; applying different dilation rates for different convolution layers in a single group of the plurality of groups; and applying a same dilation rate setting across all groups of the plurality of groups.
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公开(公告)号：US10671873B2
公开(公告)日：2020-06-02
申请号：US15917331
申请日：2018-03-09
Applicant: TuSimple, Inc.
Inventor： Panqu Wang , Pengfei Chen
Abstract: A system and method for vehicle wheel detection is disclosed. A particular embodiment can be configured to: receive training image data from a training image data collection system; obtain ground truth data corresponding to the training image data; perform a training phase to train one or more classifiers for processing images of the training image data to detect vehicle wheel objects in the images of the training image data; receive operational image data from an image data collection system associated with an autonomous vehicle; and perform an operational phase including applying the trained one or more classifiers to extract vehicle wheel objects from the operational image data and produce vehicle wheel object data.
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公开(公告)号：US20200160067A1
公开(公告)日：2020-05-21
申请号：US16752632
申请日：2020-01-25
Applicant: TuSimple, Inc.
Inventor： Zehua HUANG , Pengfei CHEN , Panqu WANG , Ke XU
Abstract: A system and method for image localization based on semantic segmentation are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on an autonomous vehicle; performing semantic segmentation or other object detection on the received image data to identify and label objects in the image data and produce semantic label image data; identifying extraneous objects in the semantic label image data; removing the extraneous objects from the semantic label image data; comparing the semantic label image data to a baseline semantic label map; and determining a vehicle location of the autonomous vehicle based on information in a matching baseline semantic label map.
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129.发明授权公开(公告)号：US10656644B2
公开(公告)日：2020-05-19
申请号：US15698375
申请日：2017-09-07
Applicant: TuSimple, Inc.
Inventor： Wutu Lin , Liu Liu , Xing Sun , Kai-Chieh Ma , Zijie Xuan , Yufei Zhao
Abstract: A system and method for using human driving patterns to manage speed control for autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to desired human driving behaviors; training a human driving model module using a reinforcement learning process and the desired human driving behaviors; receiving a proposed vehicle speed control command; determining if the proposed vehicle speed control command conforms to the desired human driving behaviors by use of the human driving model module; and validating or modifying the proposed vehicle speed control command based on the determination.
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130.发明授权公开(公告)号：US10552979B2
公开(公告)日：2020-02-04
申请号：US15703885
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： Wentao Zhu , Yi Wang , Yi Luo
Abstract: A method of visual odometry for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs includes instructions, which when executed by a computing device, causes the computing device to perform the following steps comprising: performing data alignment among sensors including a LiDAR, cameras and an IMU-GPS module; collecting image data and generating point clouds; processing, in the IMU-GPS module, a pair of consecutive images in the image data to recognize pixels corresponding to a same point in the point clouds; and establishing an optical flow for visual odometry.
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