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公开(公告)号：US10481267B2
公开(公告)日：2019-11-19
申请号：US15621918
申请日：2017-06-13
Applicant: TUSIMPLE
Inventor： Yi Wang , Yi Luo , Wentao Zhu , Panqu Wang
Abstract: A method of generating a ground truth dataset for motion planning of a vehicle is disclosed. The method includes: obtaining undistorted LiDAR scans; identifying, for a pair of undistorted LiDAR scans, points belonging to a static object in an environment; aligning the close points based on pose estimates; and transforming a reference scan that is close in time to a target undistorted LiDAR scan so as to align the reference scan with the target undistorted LiDAR scan.
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公开(公告)号：US12122398B2
公开(公告)日：2024-10-22
申请号：US17722110
申请日：2022-04-15
Applicant: TUSIMPLE, INC.
Inventor： Lindong Sun , Liu Liu , Xiaoling Han , Yi Wang , Ruiliang Zhang
CPC classification number: B60W50/0205 , G05B23/00 , G05D1/0011 , G05D1/0055 , G05D1/0088 , G05D1/0282 , G07C5/008 , G07C5/0808
Abstract: An apparatus is provided to comprise: at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to: receive, from an electronic control unit of a vehicle, a test result comprising a result of a self test performed by the electronic control unit; analyze the received test result to determine a vehicle status, the vehicle status comprising a status indicator and status information to be included in a report; periodically transmit, to a remote system according to a first time period, a report including the vehicle status, a duration of the first time period being dependent on the vehicle status; receive, from the remote system, a control command; and in response to the control command being received, implement the control command.
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公开(公告)号：US11846510B2
公开(公告)日：2023-12-19
申请号：US17477406
申请日：2021-09-16
Applicant: TUSIMPLE, INC.
IPC: G06V10/75 , G01C21/16 , G01S17/89 , G01S17/86 , G01S17/931 , G06V20/56 , G06F18/24 , G06F18/2415 , G06V10/764 , G06T17/05
CPC classification number: G01C21/1656 , G01C21/1652 , G01S17/86 , G01S17/89 , G01S17/931 , G06F18/24 , G06F18/2415 , G06V10/757 , G06V10/764 , G06V20/56 , G06T17/05
Abstract: A system is disclosed including at least one memory including computer program instructions, which when executed by at least one processor, cause the system to at least generate, based on a plurality of images from a camera, a first map including a first plurality of features; generate, based on data from a light ranging sensor, a second map including a second plurality of features; and determine, based on a comparison of the first plurality of features and the second plurality of features, a position of the first map relative to the second map. A corresponding method and non-transitory computer-readable medium are also provided.
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公开(公告)号：US11158088B2
公开(公告)日：2021-10-26
申请号：US15701409
申请日：2017-09-11
Applicant: TuSimple, Inc.
Inventor： Bolun Zhang , Yi Wang , Ke Xu
Abstract: A method of aligning optical axes of cameras 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 using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.
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15.发明授权公开(公告)号：US11089288B2
公开(公告)日：2021-08-10
申请号：US15701398
申请日：2017-09-11
Applicant: TuSimple, Inc.
Inventor： Bolun Zhang , Yi Wang , Ke Xu
Abstract: A method of aligning optical axes of cameras 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 using the following steps comprising: calibrating intrinsic parameters of a set of cameras; extracting corner points associated with a pattern; and computing a vanishing point based on information on the extracted corner points.
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Patent Agency Ranking
公开(公告)号：US10223807B1
公开(公告)日：2019-03-05
申请号：US15684414
申请日：2017-08-23
Applicant: TUSIMPLE
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 utilizing one or more autonomous vehicle driving modules that execute processing of images from a camera and data from a LiDAR the following steps comprising: aligning a 3D submap with a global map; extracting features from the 3D submap and the global map; classifying the extracted features in classes; and establishing correspondence of features in a same class between the 3D submap and the global map.
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17.发明授权公开(公告)号：US10223806B1
公开(公告)日：2019-03-05
申请号：US15684339
申请日：2017-08-23
Applicant: TUSIMPLE
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: constructing a 3D submap and a global map; extracting features from the 3D submap and the global map; matching features extracted from the 3D submap against features extracted from the global map; refining feature correspondence; and refining location of the 3D submap.
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公开(公告)号：US12228409B2
公开(公告)日：2025-02-18
申请号：US18539544
申请日：2023-12-14
Applicant: TUSIMPLE, INC.
IPC: G06V20/56 , G01C21/16 , G01S17/86 , G01S17/89 , G01S17/931 , G06F18/24 , G06F18/2415 , G06V10/75 , G06V10/764 , G06T17/05
Abstract: A system is disclosed including at least one memory including computer program instructions, which when executed by at least one processor, cause the system to at least generate, based on a plurality of images from a camera, a first map including a first plurality of features; generate, based on data from a light ranging sensor, a second map including a second plurality of features; and determine, based on a comparison of the first plurality of features and the second plurality of features, a position of the first map relative to the second map. A corresponding method and non-transitory computer-readable medium are also provided.
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公开(公告)号：US11312334B2
公开(公告)日：2022-04-26
申请号：US16243821
申请日：2019-01-09
Applicant: TuSimple, Inc.
Inventor： Xiaoling Han , Charles A. Price , Lindong Sun , Liu Liu , Yi Wang , Ruiliang Zhang
Abstract: Described are devices, systems and methods for real-time remote control of vehicles with high redundancy. In some embodiments, two copies of at least one control command are received using two different wireless communication protocols, and are compared. The at least one control command is executed when the two copies are in agreement, but is rejected when the two copies differ. In other embodiments, additional wireless communication protocols may exist to provide a redundant mode of communication when one of the two different wireless communication protocols are unavailable. In yet other embodiments, redundant GPS units may be used to determine availability of any of the communication protocols, and relevant control commands may be downloaded in advance to circumvent the lack of coverage.
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公开(公告)号：US11305782B2
公开(公告)日：2022-04-19
申请号：US16245621
申请日：2019-01-11
Applicant: TuSimple, Inc.
Inventor： Lindong Sun , Liu Liu , Xiaoling Han , Yi Wang , Ruiliang Zhang
Abstract: Disclosed are devices, systems and methods for a monitoring system for autonomous vehicle operation. In some embodiments, a vehicle may perform self-tests, generate a report based on the results, and transmit it to a remote monitor center over one or both of a high-speed channel for regular data transfers or a reliable channel for emergency situations. In other embodiments, the remote monitor center may determine that immediate intervention is required, and may transmit a control command with high priority, which when received by the vehicle, is implemented and overrides any local commands being processed. In yet other embodiments, the control command with high priority is selected from a small group of predetermined control commands the remote monitor center may issue.
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