公开(公告)号：US20230266759A1

公开(公告)日：2023-08-24

申请号：US18167993

申请日：2023-02-13

Applicant: TuSimple, Inc.

Inventor： Xiaoling HAN ,  Chenzhe QIAN ,  Chiyu ZHANG ,  Charles A. PRICE ,  Joshua Miguel RODRIGUEZ ,  Lei NIE ,  Lingting GE ,  Panqu WANG ,  Pengfei CHEN ,  Shuhan YANG ,  Xiangchen ZHAO ,  Xiaodi HOU ,  Zehua HUANG

IPC: G05D1/00

CPC classification number: G05D1/0088 ,  G05D2201/0213

Abstract: A system installed in a vehicle includes a first group of sensing devices configured to allow a first level of autonomous operation of the vehicle; a second group of sensing devices configured to allow a second level of autonomous operation of the vehicle, the second group of sensing devices including primary sensing devices and backup sensing devices; a third group of sensing devices configured to allow the vehicle to perform a safe stop maneuver; and a control element communicatively coupled to the first group of sensing devices, the second group of sensing devices, and the third group of sensing devices. The control element is configured to: receive data from at least one of the first group, the second group, or the third group of sensing devices, and provide a control signal to a sensing device based on categorization information indicating a group to which the sensing device belongs.

公开(公告)号：US20210403050A1

公开(公告)日：2021-12-30

申请号：US17359007

申请日：2021-06-25

Applicant: TUSIMPLE, INC.

Inventor： Yiqian GAN ,  Yijie WANG ,  Xiaodi HOU ,  Lingting GE

IPC: B60W60/00 ,  G08G1/16 ,  G06K9/00 ,  G06T7/73 ,  G06T7/62 ,  G06T3/40

Abstract: Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.

公开(公告)号：US20210342602A1

公开(公告)日：2021-11-04

申请号：US17377206

申请日：2021-07-15

Applicant: TUSIMPLE, INC.

Inventor： Zhipeng YAN ,  Lingting GE ,  Pengfei CHEN ,  Panqu WANG

IPC: G06K9/00 ,  G08G1/04 ,  G06T3/00 ,  G06K9/62

Abstract: A system and method for lateral vehicle detection is disclosed. A particular embodiment can be configured to: receive lateral image data from at least one laterally-facing camera associated with an autonomous vehicle; warp the lateral image data based on a line parallel to a side of the autonomous vehicle; perform object extraction on the warped lateral image data to identify extracted objects in the warped lateral image data; and apply bounding boxes around the extracted objects.

公开(公告)号：US20250086828A1

公开(公告)日：2025-03-13

申请号：US18818790

申请日：2024-08-29

Applicant: TuSimple, Inc.

Inventor： Dongqiangzi YE ,  Yufei XIE ,  Weijia CHEN ,  Zixiang ZHOU ,  Lingting GE

IPC: G06T7/73 ,  G01S17/89 ,  G06T7/12 ,  G06T17/00 ,  G06V10/25 ,  G06V10/80

Abstract: An image processing method includes performing, using images obtained from one or more sensors onboard a vehicle, a 2-dimensional (2D) feature extraction; performing, a 3-dimensional (3D) feature extraction on the images; detecting objects in the images by fusing detection results from the 2D feature extraction and the 3D feature extraction.

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：US20250014305A1

公开(公告)日：2025-01-09

申请号：US18891113

申请日：2024-09-20

Applicant: TUSIMPLE, INC.

Inventor： Siyuan LIU ,  Lingting GE ,  Chenzhe QIAN ,  Zehua HUANG ,  Xiaodi HOU

IPC: G06V10/25 ,  B60W60/00 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/82 ,  G06V20/58

Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.

公开(公告)号：US20240203135A1

公开(公告)日：2024-06-20

申请号：US18474812

申请日：2023-09-26

Applicant: TuSimple, Inc.

Inventor： Yizhe ZHAO ,  Lingting GE ,  Panqu WANG

IPC: G06V20/56 ,  B60W60/00 ,  G06T7/12 ,  G06T7/73 ,  G06T15/00 ,  G06V20/70 ,  G08G1/16

CPC classification number: G06V20/588 ,  B60W60/001 ,  G06T7/12 ,  G06T7/74 ,  G06T15/00 ,  G06V20/70 ,  G08G1/167 ,  B60W2420/42 ,  B60W2520/10 ,  B60W2552/10 ,  B60W2552/15 ,  B60W2555/60 ,  B60W2556/40 ,  B60W2710/18 ,  B60W2710/20 ,  G06T2207/30256

Abstract: Techniques are described for autonomous driving operation that includes receiving, by a computer located in a vehicle, an image from a camera located on the vehicle while the vehicle is operating on a road, wherein the image includes a plurality of lanes of the road; for each of the plurality of lanes: obtaining, from a map database stored in the computer, a set of values that describe locations of boundaries of a lane; dividing the lane into a plurality of polygons; rendering the plurality of polygons onto the image; and determining identifiers of lane segments of the lane; determining one or more characteristics of a lane segment on which the vehicle is operating based on an identifier of the lane segment; and causing the vehicle to perform a driving related operation in response to the one or more characteristics of the lane segment on which the vehicle is operating.

公开(公告)号：US20230326168A1

公开(公告)日：2023-10-12

申请号：US18335785

申请日：2023-06-15

Applicant: TUSIMPLE, INC.

Inventor： Siyuan LIU ,  Lingting GE ,  Chenzhe QIAN ,  Zehua HUANG ,  Xiaodi HOU

IPC: G06V10/25 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  B60W60/00 ,  G06V20/58 ,  G06V10/82

CPC classification number: G06V10/25 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  B60W60/0025 ,  G06V20/584 ,  G06V20/58 ,  G06V10/82 ,  B60W2554/00 ,  G06T2207/20132 ,  G06T2210/12 ,  G06T2207/30252 ,  G06T2207/30236 ,  B60W2420/42

Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.

公开(公告)号：US20230065647A1

公开(公告)日：2023-03-02

申请号：US17822735

申请日：2022-08-26

Applicant: TUSIMPLE, INC.

Inventor： Scott Douglas FOSTER ,  Neil M. OVERMON ,  Erik Orlando PORTILLO ,  Zhujia SHI ,  Joyce TAM ,  Mohammad POORSARTEP ,  Christopher MILLER ,  Pengji DUAN ,  Lingting GE ,  Navid SARMADNIA ,  Panqu PANQU WANG ,  Zhe HUANG

IPC: G08G1/0965 ,  G08G1/0967 ,  G01S15/58 ,  G01S15/931 ,  G06V20/58 ,  G06N3/08

Abstract: An autonomous vehicle includes audio sensors configured to detect audio in an environment around the autonomous vehicle and to generate audio signals based on the detected audio. A processor in the autonomous vehicle receives the audio signals and compares a time domain or frequency domain representation of the audio signals to a corresponding representation of a known emergency vehicle siren. The comparison causes the processor to output a first determination indicating whether the audio signals are indicative of an emergency vehicle siren. The processor also applies a trained neural network to the audio signals that causes the processor to output a second determination indicating whether the audio signals are indicative of the emergency vehicle siren. If the first determination or the second determination indicates presence of an emergency vehicle siren in the environment around the autonomous vehicle, the autonomous vehicle is caused to perform an action.