公开(公告)号：US12073724B2

公开(公告)日：2024-08-27

申请号：US18335886

申请日：2023-06-15

Applicant: TuSimple, Inc.

Inventor： Panqu Wang

IPC: G08G1/16 ,  G06T7/62 ,  G06T7/70 ,  G06V20/56

CPC classification number: G08G1/167 ,  G06T7/62 ,  G06T7/70 ,  G06V20/588 ,  G06T2207/10016 ,  G06T2207/30252

Abstract: A system and method for determining car to lane distance is provided. In one aspect, the system includes a camera configured to generate an image, a processor, and a computer-readable memory. The processor is configured to receive the image from the camera, generate a wheel segmentation map representative of one or more wheels detected in the image, and generate a lane segmentation map representative of one or more lanes detected in the image. For at least one of the wheels in the wheel segmentation map, the processor is also configured to determine a distance between the wheel and at least one nearby lane in the lane segmentation map. The processor is further configured to determine a distance between a vehicle in the image and the lane based on the distance between the wheel and the lane.

公开(公告)号：US12071101B2

公开(公告)日：2024-08-27

申请号：US17660519

申请日：2022-04-25

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Charles A. Price ,  Lindong Sun ,  Liu Liu ,  Yi Wang ,  Ruiliang Zhang

IPC: G05D1/00 ,  B60R25/30 ,  H04W4/80 ,  H04W84/04 ,  H04W84/12

CPC classification number: B60R25/30 ,  G05D1/0022 ,  G05D1/0077 ,  H04W4/80 ,  H04W84/042 ,  H04W84/12

Abstract: Described are devices, systems and methods for real-time remote control of vehicles with high redundancy. In some embodiments, two copies of at least one control command are received using two different wireless communication protocols, and are compared. The at least one control command is executed when the two copies are in agreement, but is rejected when the two copies differ. In other embodiments, additional wireless communication protocols may exist to provide a redundant mode of communication when one of the two different wireless communication protocols are unavailable. In yet other embodiments, redundant GPS units may be used to determine availability of any of the communication protocols, and relevant control commands may be downloaded in advance to circumvent a lack of coverage.

公开(公告)号：US20240255293A1

公开(公告)日：2024-08-01

申请号：US18441987

申请日：2024-02-14

Applicant: TuSimple, Inc. ,  Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yufei Zhao ,  Fan Mo ,  Xuren Zhou

IPC: G01C21/34 ,  G05D1/247 ,  G05D1/648

CPC classification number: G01C21/3446 ,  G05D1/247 ,  G05D1/648

Abstract: Systems and methods for autonomous lane level navigation are disclosed. In one aspect, a control system for an autonomous vehicle includes a processor and a computer-readable memory configured to cause the processor to receive a partial high-definition (HD) map that defines a plurality of lane segments that together represent one or more lanes of a roadway, the partial HD map including at least a current lane segment. The processor is also configured to generate auxiliary global information for each of the lane segments in the partial HD map. The processor is further configured to generate a subgraph including a plurality of possible routes between the current lane segment and the destination lane segment using the partial HD map and the auxiliary global information, select one of the possible routes for navigation based on the auxiliary global information, and generate lane level navigation information based on the selected route.

公开(公告)号：US12038761B2

公开(公告)日：2024-07-16

申请号：US18165627

申请日：2023-02-07

Applicant: TuSimple, Inc.

Inventor： Bolun Zhang ,  Nan Yu

IPC: G05D1/02 ,  G05D1/00 ,  G06V20/56 ,  G06V20/58 ,  H04W4/46

CPC classification number: G05D1/028 ,  G05D1/0219 ,  G05D1/0248 ,  G05D1/0257 ,  G06V20/582 ,  G06V20/588 ,  H04W4/46

Abstract: Systems and methods for updating navigational maps based using at least one sensor are provided. In one aspect, a control system for an autonomous vehicle, includes a processor and a computer-readable memory configured to cause the processor to: receive output from at least one sensor located on the autonomous vehicle indicative of a driving environment of the autonomous vehicle, retrieve a navigational map used for driving the autonomous vehicle, and detect one or more inconsistencies between the output of the at least one sensor and the navigational map. The computer-readable memory is further configured to cause the processor to: in response to detecting the one or more inconsistencies, trigger mapping of the driving environment based on the output of the at least one sensor, update the navigational map based on the mapped driving environment, and drive the autonomous vehicle using the updated navigational map.

公开(公告)号：US20240230344A1

公开(公告)日：2024-07-11

申请号：US18517959

申请日：2023-11-22

Applicant: TuSimple, Inc.

Inventor： Joyce Tam

IPC: G01C21/34 ,  G01C21/36 ,  G05D1/02

CPC classification number: G01C21/3415 ,  G01C21/3691 ,  G05D1/0291

Abstract: A system accesses a plurality of data streams, each providing information about an environment associated with at least a portion of a predetermined routing plan of an autonomous vehicle. The system determines that the plurality of data streams in the aggregate indicates a route-altering event. In response to determining that the plurality of data streams in the aggregate indicate the route-altering event, the system updates the predetermined routing plan of the autonomous vehicle and communicates the updated routing plan to the autonomous vehicle.

公开(公告)号：US12000727B2

公开(公告)日：2024-06-04

申请号：US17819304

申请日：2022-08-11

Applicant: TUSIMPLE, INC.

Inventor： Kun Zhang ,  Xiaoling Han ,  Zehua Huang ,  Charles A. Price

IPC: G01G19/08 ,  B60C23/04 ,  B60W40/13

CPC classification number: G01G19/086 ,  B60W40/13 ,  B60C23/0416 ,  B60G2400/61 ,  B60W2040/1307

Abstract: Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes determining a vehicle weight distribution that values for each axle of the vehicle that describe weight or pressure applied on a respective axle. The values of the vehicle weight distribution are determined by removing at least one value that is outside a range of pre-determined values from a set of sensor values. The method further includes determining a driving-related operation of the vehicle weight distribution. For example, the driving-related operation may include determining a braking amount for each axle and/or determining a maximum steering angle to operate the vehicle. The method further includes controlling one or more subsystems in the vehicle via an instruction related to the driving-related operation. For example, transmitting the instruction to the one or more subsystems causes the vehicle to perform the driving-related operation.

公开(公告)号：US20240116523A1

公开(公告)日：2024-04-11

申请号：US18390966

申请日：2023-12-20

Applicant: TUSIMPLE, INC.

Inventor： Frederic ROCHA ,  Zehua HUANG ,  Xiaoling HAN ,  Ruiliang ZHANG ,  Esayas NAIZGHI ,  Changyi ZHAO

IPC: B60W50/023 ,  B60W60/00 ,  G06V20/56

CPC classification number: B60W50/023 ,  B60W60/00186 ,  G06V20/56 ,  B60W2420/403 ,  B60W2420/408

Abstract: A redundant hardware and software architecture can be designed to enable vehicles to be operated in an autonomous mode while improving the reliability and/or safety of such vehicles. A system for redundant architecture can include a set of at least two redundant sensors coupled to a vehicle and configured to provide timestamped sensor data to each of a plurality of computing unit (CU) computers. The CU computers can process the sensor data simultaneously based on at least a time value indicative of an absolute time or a relative time and based on the timestamped sensor data. The CU computers provide to a vehicle control unit (VCU) computer at least two sets of outputs configured to instruct a plurality of devices in a vehicle and cause the vehicle to be driven.

公开(公告)号：US20240101114A1

公开(公告)日：2024-03-28

申请号：US18464936

申请日：2023-09-11

Applicant: TUSIMPLE, INC.

Inventor： Junbo JING ,  Patrik KOLARIC ,  Chunan HUANG ,  Stephen W. HORTON ,  Arda KURT

IPC: B60W30/16 ,  B60W30/182 ,  B60W60/00

CPC classification number: B60W30/16 ,  B60W30/182 ,  B60W60/0059 ,  B60W2552/00 ,  B60W2554/80

Abstract: Techniques are described for performing vehicle operation that comprises determining, by a computer located in a vehicle, a set of values of a predicted trajectory along which the vehicle is predicted to operate in a driving mode; performing a first determination that the vehicle is operable in the driving mode in response to determining that the set of values of the driving mode is within maximum and minimum values associated with another set of values of a trajectory along which the vehicle is expected to be operated; and causing, in response to the first determination, the vehicle to operate in the driving mode by sending one or more driving related instructions to a device in the vehicle to cause the device to perform cruise control related operations.

公开(公告)号：US11935210B2

公开(公告)日：2024-03-19

申请号：US17018627

申请日：2020-09-11

Applicant: TUSIMPLE, INC.

Inventor： Zhipeng Yan ,  Pengfei Chen ,  Panqu Wang

IPC: G06T3/00 ,  G05D1/00 ,  G06T5/00 ,  G06T5/20

CPC classification number: G06T3/0018 ,  G05D1/0246 ,  G06T5/006 ,  G06T5/20 ,  G06T2207/30252

Abstract: A system and method for fisheye image processing can be configured to: receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame; partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame; warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view; combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame; generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

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.