公开(公告)号：US10816354B2

公开(公告)日：2020-10-27

申请号：US15683441

申请日：2017-08-22

Applicant: TuSimple, Inc.

Inventor： Siyuan Liu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G01C21/36 ,  G06K9/00 ,  G01S17/89 ,  G01S17/86

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：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.

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

IPC: G06T7/73 ,  G06T7/246 ,  G05D1/02

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).

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：US11775915B2

公开(公告)日：2023-10-03

申请号：US16917699

申请日：2020-06-30

Applicant: TUSIMPLE, INC.

Inventor： Xiaodi Hou ,  Jason Wallace ,  Cheng Lu

IPC: G06Q10/08 ,  G06Q10/083

CPC classification number: G06Q10/083

Abstract: Systems and techniques disclosed in this patent document provide novel and efficient ground transportation of goods by self-driving trucks based on a system of infrastructures with shipping hub facilities serving as warehouses and services centers in accordance with unique characteristics of operating autonomous self-driving trucks without entirely relying on human drivers, including features to cover technological issues, fleet management issues, and customer service issues. In addition, the disclosed systems and techniques may be implemented to integrate other fleet services and modes of transportation of goods with transportation services by self-driving trucks.

公开(公告)号：US11721038B2

公开(公告)日：2023-08-08

申请号：US17531447

申请日：2021-11-19

Applicant: TUSIMPLE, INC.

Inventor： Yijie Wang ,  Lingting Ge ,  Yiqian Gan ,  Xiaodi Hou

IPC: G06T7/73 ,  G06T7/33

CPC classification number: G06T7/74 ,  G06T7/337 ,  G06T2207/30184 ,  G06T2207/30252

Abstract: Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.

公开(公告)号：US11718311B2

公开(公告)日：2023-08-08

申请号：US16813180

申请日：2020-03-09

Applicant: TUSIMPLE, INC.

Inventor： Lingting Ge ,  Yijie Wang ,  Yiqian Gan ,  Jianan Hao ,  Xiaodi Hou

IPC: G06T7/73 ,  G01S17/931 ,  B60W10/20 ,  G01S7/00 ,  G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  B60W50/14 ,  G06V10/774 ,  G06V10/776 ,  G06V10/80 ,  G06V20/56 ,  G06V20/64

CPC classification number: B60W50/14 ,  B60W10/20 ,  G01S7/003 ,  G01S17/89 ,  G01S17/931 ,  G05D1/0094 ,  G05D1/0248 ,  G06T7/74 ,  G06V10/774 ,  G06V10/776 ,  G06V10/806 ,  G06V20/56 ,  G06V20/647 ,  B60W2420/42 ,  B60W2420/52 ,  G06T2207/30244 ,  G06T2210/12

Abstract: Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.

公开(公告)号：US11673557B2

公开(公告)日：2023-06-13

申请号：US16900611

申请日：2020-06-12

Applicant: TUSIMPLE, INC.

Inventor： Wutu Lin ,  Xiaodi Hou

IPC: B60W40/04 ,  G01S13/931 ,  G01C21/20 ,  G05D1/02 ,  G05D1/00 ,  G01S17/931 ,  G01S13/86

CPC classification number: B60W40/04 ,  G01C21/20 ,  G01S13/931 ,  G01S17/931 ,  G05D1/0088 ,  G05D1/0214 ,  G01S13/865 ,  G01S13/867 ,  G05D2201/0213

Abstract: A system and method for path planning of autonomous vehicles based on gradient are disclosed. A particular embodiment includes: generating and scoring a first suggested trajectory for an autonomous vehicle; generating a trajectory gradient based on the first suggested trajectory; generating and scoring a second suggested trajectory for the autonomous vehicle, the second suggested trajectory being based on the first suggested trajectory and a human driving model; and outputting the second suggested trajectory if the score corresponding to the second suggested trajectory is within a score differential threshold relative to the score corresponding to the first suggested trajectory.

公开(公告)号：USD973078S1

公开(公告)日：2022-12-20

申请号：US29763659

申请日：2020-12-23

Applicant: TUSIMPLE, INC.

Designer： Xiaodi Hou ,  Jason Wallace ,  Cheng Lu