公开(公告)号：US20190072965A1

公开(公告)日：2019-03-07

申请号：US15805983

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

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

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, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle, generating a proposed trajectory for the host vehicle, 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.

公开(公告)号：US20190071092A1

公开(公告)日：2019-03-07

申请号：US15946171

申请日：2018-04-05

Applicant: TuSimple

Inventor： Kai-Chieh MA ,  Xing SUN

IPC: B60W30/18 ,  G05D1/02 ,  G08G1/16

Abstract: A system and method for automated lane change control for autonomous vehicles are disclosed. A particular embodiment is configured to: receive perception data associated with a host vehicle; use the perception data to determine a state of the host vehicle and a state of proximate vehicles detected near to the host vehicle; determine a first target position within a safety zone between proximate vehicles detected in a roadway lane adjacent to a lane in which the host vehicle is positioned; determine a second target position in the lane in which the host vehicle is positioned; and generate a lane change trajectory to direct the host vehicle toward the first target position in the adjacent lane after directing the host vehicle toward the second target position in the lane in which the host vehicle is positioned.