公开(公告)号：US10360257B2

公开(公告)日：2019-07-23

申请号：US15672217

申请日：2017-08-08

Applicant: TuSimple

Inventor： Xiaodi Hou ,  Siyuan Liu ,  Kai Zhou

IPC: G06F17/00 ,  G06F16/58 ,  G06F17/24 ,  G06F16/583

Abstract: A system and method for implementing an image annotation platform are disclosed. A particular embodiment includes: registering a plurality of labelers to which annotation tasks are assigned; assigning annotation tasks to the plurality of labelers; determining if the annotation tasks can be closed or re-assigned to the plurality of labelers; aggregating annotations provided by the plurality of labelers as a result of the closed annotation tasks; evaluating a level of performance of the plurality of labelers in providing the annotations; and calculating payments for the plurality of labelers based on the quantity and quality of the annotations provided by the plurality of labelers.

公开(公告)号：US10303522B2

公开(公告)日：2019-05-28

申请号：US15640510

申请日：2017-07-01

Applicant: TuSimple

Inventor： Kai Zhou ,  Siyuan Liu

IPC: G06T1/20 ,  G06F9/50 ,  G06F16/955

Abstract: A system and method for distributed graphics processing unit (GPU) computation are disclosed. A particular embodiment includes: receiving a user task service request from a user node; querying resource availability from a plurality of slave nodes having a plurality of graphics processing units (GPUs) thereon; assigning the user task service request to a plurality of available GPUs based on the resource availability and resource requirements of the user task service request, the assigning including starting a service on a GPU using a distributed processing container and creating a corresponding uniform resource locator (URL); and retaining a list of URLs corresponding to the resources assigned to the user task service request.

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

IPC: G01C21/36 ,  G01S17/86 ,  G01S17/89 ,  G06V20/56

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.

公开(公告)号：US11928868B2

公开(公告)日：2024-03-12

申请号：US18090217

申请日：2022-12-28

Applicant: TuSimple, Inc.

Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

IPC: G06V20/58 ,  G01S7/48 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/16

CPC classification number: G06V20/58 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.

公开(公告)号：US11055144B2

公开(公告)日：2021-07-06

申请号：US16276084

申请日：2019-02-14

Applicant: TuSimple, Inc.

Inventor： Yifan Gong ,  Siyuan Liu ,  Dinghua Li ,  Jiangming Jin ,  Lei Su ,  Yixin Yang ,  Wei Liu ,  Zehua Huang

IPC: G06F9/50 ,  G06F9/54 ,  G06K9/62

Abstract: The present disclosure provides a method, an apparatus and a system for multi-module scheduling, capable of solving the problem associated with inconsistency in data inputted to a computing module in the multi-module scheduling technique in the related art. The method includes: reading, by a master process, a pre-stored configuration file storing a directed computation graph; initializing, by the master process, states of all the nodes and connecting edges in the directed computation graph initially in computation in a current computing period; determining a node to be called based on the computation direction in the directed computation graph and the states of the nodes, the node to be called comprising a node having all of its input edges in a complete state; transmitting, to the computing module in the slave process corresponding to the node to be called, a call request of Remote Process Call (RPC) to execute the computing module; updating the state of the node and the state of each output edge of the node upon receiving a response to the call request; and proceeding with a next computing period upon determining that the states of all the nodes have been updated.

公开(公告)号：US11948082B2

公开(公告)日：2024-04-02

申请号：US17401781

申请日：2021-08-13

Applicant: TUSIMPLE, INC.

Inventor： Zhipeng Yan ,  Mingdong Wang ,  Siyuan Liu ,  Xiaodi Hou

IPC: G06N3/08 ,  B60W30/09 ,  B60W30/095 ,  G05D1/00 ,  G05D1/02 ,  G06F18/20 ,  G06N5/046 ,  G06N7/01 ,  G06V10/764 ,  G06V20/58

CPC classification number: G06N3/08 ,  B60W30/09 ,  B60W30/0956 ,  G05D1/027 ,  G06F18/295 ,  G06N5/046 ,  G06N7/01 ,  G06V10/764 ,  G06V20/58 ,  G06V20/584 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2556/50 ,  B60W2556/60

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.

公开(公告)号：US11874130B2

公开(公告)日：2024-01-16

申请号：US18158974

申请日：2023-01-24

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06V20/56 ,  G01S17/89 ,  G01S17/86

CPC classification number: G01C21/3658 ,  G06V20/588 ,  G01S17/86 ,  G01S17/89 ,  G06V2201/10

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.

公开(公告)号：US11715277B2

公开(公告)日：2023-08-01

申请号：US16909950

申请日：2020-06-23

Applicant: TUSIMPLE, INC.

Inventor： Siyuan Liu ,  Lingting Ge ,  Chenzhe Qian ,  Zehua Huang ,  Xiaodi Hou

IPC: G06K9/00 ,  G06V10/25 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  B60W60/00 ,  G06V20/58 ,  G06V10/82

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

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：US11557128B2

公开(公告)日：2023-01-17

申请号：US16752637

申请日：2020-01-25

Applicant: TuSimple, Inc.

Inventor： Chenyang Li ,  Xiaodi Hou ,  Siyuan Liu

IPC: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/48 ,  G01S17/86 ,  G01S17/931 ,  G08G1/16

Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

公开(公告)号：US10942771B2

公开(公告)日：2021-03-09

申请号：US16275984

申请日：2019-02-14

Applicant: TuSimple, Inc.

Inventor： Yifan Gong ,  Siyuan Liu ,  Dinghua Li ,  Jiangming Jin ,  Lei Su ,  YiXin Yang ,  Wei Liu ,  Zehua Huang

IPC: G06F9/48 ,  G06F16/901 ,  G06F9/54

Abstract: The present disclosure provides a method, an apparatus and a system for multi-module scheduling, capable of solving at least one of the problems associated with the multi-module scheduling technique in the related art, i.e., inconsistency in data inputted to a computing module, and a significant delay or low throughput in data transmission between computing modules. The method includes: reading, by a master process, a pre-stored configuration file storing a directed computation graph; initializing, by the master process, states of the nodes and connecting edges in a current computing period; determining a node to be called based on the computation direction of the directed computation graph and the states of the nodes, the node to be called comprising a node having all of its input edges in a complete state; transmitting, to the computing module in the slave process corresponding to the node to be called, a call request of Remote Process Call (RPC) to execute the computing module; updating the state of the node and the state of each output edge of the node upon receiving a response to the call request; and proceeding with a next computing period after determining that the states of all the nodes in the directed computation graph have been updated.