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公开(公告)号：US11810322B2
公开(公告)日：2023-11-07
申请号：US17225396
申请日：2021-04-08
Applicant: TUSIMPLE, INC.
Inventor： Chenzhe Qian , Yi Luo , Ke Xu , Mingdong Wang , Xiaodi Hou
IPC: G06T7/73
CPC classification number: G06T7/74 , G06T2207/30244 , G06T2207/30256
Abstract: Techniques are described for estimating pose of a camera located on a vehicle. An exemplary method of estimating camera pose includes obtaining, from a camera located on a vehicle, an image including a lane marker on a road on which the vehicle is driven, and estimating a pose of the camera such that the pose of the camera provides a best match according to a criterion between a first position of the lane marker determined from the image and a second position of the lane marker determined from a stored map of the road.
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公开(公告)号：US11104334B2
公开(公告)日：2021-08-31
申请号：US15994138
申请日：2018-05-31
Applicant: TuSimple, Inc.
Inventor： Zhipeng Yan , Mingdong Wang , Siyuan Liu , Xiaodi Hou
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.
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公开(公告)号：US11009356B2
公开(公告)日：2021-05-18
申请号：US16184926
申请日：2018-11-08
Applicant: TuSimple, Inc.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
Abstract: Various embodiments of the present disclosure 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.
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14.发明授权公开(公告)号：US10482769B2
公开(公告)日：2019-11-19
申请号：US15683494
申请日：2017-08-22
Applicant: TUSIMPLE
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
IPC: G08G1/16
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 include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: receiving a lane marking, expressed in god's view, associated with a current view; fitting, in a post-processing module, the lane marking in an arc by using a set of parameters; generating a lane template, using the set of parameters, the lane template including features of the lane marking associated with the current view and features of the arc; and feeding the lane template associated with the current view for detection of a next view.
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Patent Agency Ranking
15.发明授权公开(公告)号：US12276516B2
公开(公告)日：2025-04-15
申请号：US18449340
申请日：2023-08-14
Applicant: TuSimple, Inc.
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
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：US12270661B2
公开(公告)日：2025-04-08
申请号：US18456015
申请日：2023-08-25
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.
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公开(公告)号：US11648961B2
公开(公告)日：2023-05-16
申请号：US17105073
申请日：2020-11-25
Applicant: TUSIMPLE, INC.
Inventor： Zhujia Shi , Mingdong Wang
IPC: B60W60/00 , B60W40/06 , B60W40/04 , B60W30/14 , B60W30/09 , B60W30/095 , B60W10/20 , B60W30/18 , G01C21/34 , G08G1/16
CPC classification number: B60W60/0015 , B60W10/20 , B60W30/09 , B60W30/0956 , B60W30/143 , B60W30/18163 , B60W40/04 , B60W40/06 , G01C21/3461 , G08G1/167 , B60W2420/42 , B60W2420/52 , B60W2520/10 , B60W2554/20 , B60W2554/4042 , B60W2554/801
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.
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公开(公告)号：US20200271473A1
公开(公告)日：2020-08-27
申请号：US15896077
申请日：2018-02-14
Applicant: TuSimple, Inc.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
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.
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公开(公告)号：US20200271453A1
公开(公告)日：2020-08-27
申请号：US16184926
申请日：2018-11-08
Applicant: TuSimple, Inc.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
IPC: G01C21/30
Abstract: Various embodiments of the present disclosure 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.
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