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公开(公告)号：US11523067B2
公开(公告)日：2022-12-06
申请号：US17325135
申请日：2021-05-19
Applicant: TUSIMPLE, INC.
Inventor： Ke Xu , Xue Mei , Zehua Huang
Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.
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公开(公告)号：US11500101B2
公开(公告)日：2022-11-15
申请号：US16401772
申请日：2019-05-02
Applicant: TuSimple, Inc.
Abstract: Disclosed are devices, systems and methods for curb detection using light detection and ranging (LiDAR) sensors. One example of a method for curb detection includes acquiring, based on a scan of an area around a vehicle, a point-cloud frame that includes a description of an intensity of a reflection of the area around the vehicle, selecting a subset of points from the point-cloud frame, seeding each of a plurality of clusters based on the selected points, determining a criterion for each of the selected points, increasing a size of each of the plurality of clusters by including additional points from the point-cloud frame that meet the criterion for the corresponding cluster, identifying a largest cluster of the plurality of clusters upon completion of the increasing step, and detecting a curb based on a boundary of the largest cluster.
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公开(公告)号：US20210278221A1
公开(公告)日：2021-09-09
申请号：US17320888
申请日：2021-05-14
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：US11009365B2
公开(公告)日：2021-05-18
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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15.发明授权公开(公告)号：US10984540B2
公开(公告)日：2021-04-20
申请号：US16160771
申请日：2018-10-15
Applicant: TUSIMPLE, INC.
Inventor： Xue Mei , Chenyang Li
Abstract: A method of LiDAR-based vehicle tracking 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 including taking point clusters that belong to vehicles in a single LiDAR frame as input, tracking each vehicle as a probabilistic distribution, assigning each tracked vehicle to a corresponding one of the point clusters, and recalculating the probabilistic distribution of each tracked vehicle.
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Patent Agency Ranking
公开(公告)号：US10657390B2
公开(公告)日：2020-05-19
申请号：US15822689
申请日：2017-11-27
Applicant: TuSimple, Inc.
Inventor： Xue Mei , Xiaodi Hou , Dazhou Guo , Yujie Wei
IPC: G06K9/00 , B60R11/04 , G07C5/00 , G01S17/42 , G06N3/02 , G01C21/32 , G06T7/10 , G06T7/246 , G01S17/89 , G06T5/50 , G06N3/04 , G06N3/08
Abstract: A system and method for large-scale lane marking detection using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data; and generating a lane marking map from the set of lane marking points.
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公开(公告)号：US10565728B2
公开(公告)日：2020-02-18
申请号：US15996292
申请日：2018-06-01
Applicant: TUSIMPLE, INC.
Inventor： Xiaodi Hou , Xue Mei
Abstract: Disclosed are devices, systems and methods for incorporating a smoothness constraint for camera pose estimation. One method for robust camera pose estimation includes determining a first bounding box based on a previous frame, determining a second bounding box based on a current frame that is temporally subsequent to the previous frame, estimating the camera pose by minimizing a weighted sum of a camera pose function and a constraint function, where the camera pose function tracks a position and an orientation of the camera in time, and where the constraint function is based on coordinates of the first bounding box and coordinates of the second bounding box, and using the camera pose for navigating the vehicle. The method may further include generating an initial estimate of the camera pose is based on a Global Positioning System (GPS) sensor or an Inertial Measurement Unit (IMU).
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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：US11783598B2
公开(公告)日：2023-10-10
申请号：US17457885
申请日：2021-12-06
Applicant: TuSimple, Inc.
Inventor： Yi Luo , Xiaoling Han , Xue Mei
CPC classification number: G06V20/588 , G01S17/42 , G01S17/931 , G06T7/73 , G08G1/167 , B60R1/002 , G06T2207/30204 , G06T2207/30256
Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
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公开(公告)号：US11704909B2
公开(公告)日：2023-07-18
申请号：US17325160
申请日：2021-05-19
Applicant: TUSIMPLE, INC.
Inventor： Xiaoling Han , Xue Mei
CPC classification number: G06V20/56 , H04B7/2621 , H04N7/181 , H04N23/651 , H04N23/695 , G05D1/0231 , G05D1/0257
Abstract: Devices, systems and methods for operating a rear-facing perception system for vehicles are described. An exemplary rear-facing perception system contains two corner units and a center unit, with each of the two corner units and the center unit including a camera module and a dual-band transceiver. A method for operating the rear-facing perception system includes pairing with a control unit by communicating, using the dual-band transceiver, over at least a first frequency band, transmitting a first trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band, and switching to an active mode. In an example, the first trigger signal causes the two corner units to switch to the active mode, which includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
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