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公开(公告)号：US20240103523A1
公开(公告)日：2024-03-28
申请号：US18536635
申请日：2023-12-12
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：US20230123912A1
公开(公告)日：2023-04-20
申请号：US17965894
申请日：2022-10-14
Applicant: TuSimple, Inc.
Inventor： Scott Douglas FOSTER , Dishi LI , Hunter Scott WILLOUGHBY , Yufei ZHAO
Abstract: An example method includes detecting, via sensor data collected from sensors located on the AV, an upcoming object located on a roadway. The method further includes determining, from the sensor data, a relative distance and a relative direction of the upcoming object with respect to the autonomous vehicle. The method further includes mapping the upcoming object to an absolute location with respect to the roadway based on map data that describes upcoming topology of the roadway and a location of the autonomous vehicle. The method further includes associating the upcoming object with a lane of the roadway based on the absolute location mapped to the upcoming object and based on lane geometry data for the roadway. The method further includes operating the autonomous vehicle based on a relationship between the lane associated with the upcoming object and a current lane in which the autonomous vehicle is located.
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公开(公告)号：US20230063989A1
公开(公告)日：2023-03-02
申请号：US17983974
申请日：2022-11-09
Applicant: TuSimple, Inc.
Inventor： Xing SUN , Yufei ZHAO , Wutu LIN , Zijie XUAN , Liu LIU , Kai-Chieh MA
Abstract: A system and method for providing multiple agents for decision making, trajectory planning, and control for autonomous vehicles are disclosed. A particular embodiment includes: partitioning a multiple agent autonomous vehicle control module for an autonomous vehicle into a plurality of subsystem agents, the plurality of subsystem agents including a deep computing vehicle control subsystem and a fast response vehicle control subsystem; receiving a task request from a vehicle subsystem; determining if the task request is appropriate for the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on content of the task request or a context of the autonomous vehicle; dispatching the task request to the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on the determination; causing execution of the deep computing vehicle control subsystem or the fast response vehicle control subsystem by use of a data processor to produce a vehicle control output; and providing the vehicle control output to a vehicle control subsystem of the autonomous vehicle.
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公开(公告)号：US20200049592A1
公开(公告)日：2020-02-13
申请号：US16660244
申请日：2019-10-22
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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公开(公告)号：US20190072966A1
公开(公告)日：2019-03-07
申请号：US15806013
申请日：2017-11-07
Applicant: TuSimple
Inventor： Xiaomin ZHANG , Yilun CHEN , Guangyu LI , Xing SUN , Wutu LIN , Liu LIU , Kai-Chieh MA , Zijie XUAN , Yufei ZHAO
Abstract: A prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment is configured to: receive training data and ground truth data from a training data collection system, the training data including perception data and context data corresponding to human driving behaviors; perform a training phase for training a trajectory prediction module using the training data; receive perception data associated with a host vehicle; and perform an operational phase for extracting host vehicle feature data and proximate vehicle context data from the perception data, generating a proposed trajectory for the host vehicle, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle based on the proposed host vehicle trajectory, determining if the proposed trajectory for the host vehicle will conflict with any of the predicted trajectories of the proximate vehicles, and modifying the proposed trajectory for the host vehicle until conflicts are eliminated.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20190072960A1
公开(公告)日：2019-03-07
申请号：US15698375
申请日：2017-09-07
Applicant: TuSimple
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：US20190001977A1
公开(公告)日：2019-01-03
申请号：US15806127
申请日：2017-11-07
Applicant: TuSimple
Inventor： Wutu LIN , Liu LIU , Zijie XUAN , Xing SUN , Kai-Chieh MA , Yufei ZHAO
Abstract: A system and method for adaptive cruise control with proximate vehicle detection are disclosed. The example embodiment can be configured for: receiving input object data from a subsystem of a host vehicle, the input object data including distance data and velocity data relative to detected target vehicles; detecting the presence of any target vehicles within a sensitive zone in front of the host vehicle, to the left of the host vehicle, and to the right of the host vehicle; determining a relative speed and a separation distance between each of the detected target vehicles relative to the host vehicle; and generating a velocity command to adjust a speed of the host vehicle based on the relative speeds and separation distances between the host vehicle and the detected target vehicles to maintain a safe separation between the host vehicle and the target vehicles.
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18.发明申请公开(公告)号：US20180349547A1
公开(公告)日：2018-12-06
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：US20250053171A1
公开(公告)日：2025-02-13
申请号：US18932073
申请日：2024-10-30
Applicant: TUSIMPLE, INC.
Inventor： Liu LIU , Yuwei WANG , Xing SUN , Yufei ZHAO , Wutu LIN
IPC: G05D1/00 , G06F30/15 , G06F30/20 , G06F111/10
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 a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.
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公开(公告)号：US20240085900A1
公开(公告)日：2024-03-14
申请号：US18510352
申请日：2023-11-15
Applicant: TUSIMPLE, INC.
Inventor： Xing SUN , Wutu LIN , Liu LIU , Kai-Chieh MA , Zijie XUAN , Yufei ZHAO
IPC: G05D1/00 , B60R16/023 , G01C21/34
CPC classification number: G05D1/0005 , B60R16/0236 , G01C21/3469 , G05D1/0088
Abstract: A system and method for autonomous vehicle control to minimize energy cost are disclosed. A particular embodiment includes: generating a plurality of potential routings and related vehicle motion control operations for an autonomous vehicle to cause the autonomous vehicle to transit from a current position to a desired destination; generating predicted energy consumption rates for each of the potential routings and related vehicle motion control operations using a vehicle energy consumption model; scoring each of the plurality of potential routings and related vehicle motion control operations based on the corresponding predicted energy consumption rates; selecting one of the plurality of potential routings and related vehicle motion control operations having a score within an acceptable range; and outputting a vehicle motion control output representing the selected one of the plurality of potential routings and related vehicle motion control operations.
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