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11.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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公开(公告)号：US10481044B2
公开(公告)日：2019-11-19
申请号：US15598693
申请日：2017-05-18
Applicant: TuSimple
Inventor： Xing Sun , Wutu Lin , Yufei Zhao , Liu Liu
Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: receiving perception data from a plurality of sensors of an autonomous vehicle; configuring the perception simulation operation based on a comparison of the perception data against ground truth data; generating simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors; and providing the simulated perception data to a motion planning system for the autonomous vehicle.
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13.发明授权公开(公告)号：US10474790B2
公开(公告)日：2019-11-12
申请号：US15612976
申请日：2017-06-02
Applicant: TuSimple
Inventor： Xing Sun , Wutu Lin , Yufei Zhao , Liu Liu
Abstract: A system and method for large scale distributed simulation for realistic multiple-agent interactive environments are disclosed. A particular embodiment includes: generating a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated; assigning a processing task to at least one of a plurality of distributed computing devices to generate vehicle trajectories for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario; and updating a state and trajectory of each of the plurality of simulated vehicles based on processed data received from the plurality of distributed computing devices.
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公开(公告)号：US11853072B2
公开(公告)日：2023-12-26
申请号：US17901736
申请日：2022-09-01
Applicant: TuSimple, Inc.
Inventor： Xing Sun , Wutu Lin , Liu Liu , Kai-Chieh Ma , Zijie Xuan , Yufei Zhao
CPC classification number: G05D1/0221 , G05B13/048 , G05D1/0088 , G06N20/00
Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.
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公开(公告)号：US11782440B2
公开(公告)日：2023-10-10
申请号：US17126740
申请日：2020-12-18
Applicant: TUSIMPLE, INC.
Inventor： Liu Liu , Yuwei Wang , Xing Sun , Yufei Zhao , Wutu Lin
IPC: G05D1/00 , G05D1/02 , G06F30/15 , G06F30/20 , G06F111/10
CPC classification number: G05D1/0088 , G05D1/0212 , G05D1/0287 , G06F30/15 , G06F30/20 , G05D2201/0213 , G06F2111/10
Abstract: An autonomous vehicle simulation system for analyzing motion planners is disclosed. A particular embodiment includes: receiving map data corresponding to a real world driving environment; obtaining perception data and configuration data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration data; receiving vehicle control messages from an autonomous vehicle control system; and simulating the operation and behavior of areal world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.
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Patent Agency Ranking
公开(公告)号：US11681292B2
公开(公告)日：2023-06-20
申请号：US17111984
申请日：2020-12-04
Applicant: TuSimple, Inc.
Inventor： Xingdong Li , Xing Sun , Wutu Lin , Liu Liu
IPC: G05D1/00 , G05D1/02 , G09B9/00 , G09B9/04 , G09B9/048 , G09B19/16 , G06F30/15 , G06F30/20 , G06F111/10
CPC classification number: G05D1/0088 , G05D1/0027 , G05D1/0223 , G06F30/15 , G06F30/20 , G09B9/00 , G09B9/04 , G09B9/048 , G09B19/167 , G05D2201/0213 , G06F2111/10
Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: receiving perception data from a plurality of perception data sensors; obtaining configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating a target position and target speed for each of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed.
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公开(公告)号：US11550329B2
公开(公告)日：2023-01-10
申请号：US17147836
申请日：2021-01-13
Applicant: TuSimple, Inc.
Abstract: A system and method for implementing a neural network based vehicle dynamics model are disclosed. A particular embodiment includes: training a machine learning system with a training dataset corresponding to a desired autonomous vehicle simulation environment; receiving vehicle control command data and vehicle status data, the vehicle control command data not including vehicle component types or characteristics of a specific vehicle; by use of the trained machine learning system, the vehicle control command data, and vehicle status data, generating simulated vehicle dynamics data including predicted vehicle acceleration data; providing the simulated vehicle dynamics data to an autonomous vehicle simulation system implementing the autonomous vehicle simulation environment; and using data produced by the autonomous vehicle simulation system to modify the vehicle status data for a subsequent iteration.
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公开(公告)号：US11435748B2
公开(公告)日：2022-09-06
申请号：US16929954
申请日：2020-07-15
Applicant: TUSIMPLE, INC.
Inventor： Xing Sun , Wutu Lin , Liu Liu , Kai-Chieh Ma , Zijie Xuan , Yufei Zhao
Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.
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公开(公告)号：US11040710B2
公开(公告)日：2021-06-22
申请号：US16416244
申请日：2019-05-19
Applicant: TuSimple, Inc.
Abstract: A system and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to a normal driving behavior safe zone; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone. Another embodiment includes modifying the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone.
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公开(公告)号：US10860018B2
公开(公告)日：2020-12-08
申请号：US15827583
申请日：2017-11-30
Applicant: TuSimple, Inc.
Inventor： Xingdong Li , Xing Sun , Wutu Lin , Liu Liu
IPC: G06F30/10 , G05D1/00 , G05D1/02 , G09B9/00 , G09B9/04 , G09B9/048 , G09B19/16 , G06F30/15 , G06F30/20 , G06F111/10
Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: receiving perception data from a plurality of perception data sensors; obtaining configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating a target position and target speed for each of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed.
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