公开(公告)号：US20220317680A1

公开(公告)日：2022-10-06

申请号：US17807709

申请日：2022-06-17

Applicant: TUSIMPLE, INC.

Inventor： Xing SUN ,  Wutu LIN ,  Liu LIU ,  Kai-Chieh MA ,  Zijie XUAN ,  Yufei ZHAO

IPC: G05D1/00 ,  B60R16/023 ,  G01C21/34

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.

公开(公告)号：US20210309210A1

公开(公告)日：2021-10-07

申请号：US17350297

申请日：2021-06-17

Applicant: TuSimple, Inc.

Inventor： Wutu LIN ,  Liu LIU ,  Xing SUN

IPC: B60W30/02 ,  G05D1/00 ,  G06N20/00

Abstract: A system and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to a normal driving behavior safe zone; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone. Another embodiment includes modifying the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone.

公开(公告)号：US20210181744A1

公开(公告)日：2021-06-17

申请号：US17184438

申请日：2021-02-24

Applicant: TUSIMPLE, INC.

Inventor： Liu LIU ,  Che Kun Law ,  Ke Quan

IPC: G05D1/00 ,  G01C21/36 ,  G06T17/05 ,  G05D1/02 ,  G06Q10/00

Abstract: The system and method make it feasible to develop an autonomous vehicle control system for complex vehicles, such as for cargo trucks and other large payload vehicles. The method and system commence by first obtaining 3-dimensional data for one or more sections of roadway. Once the 3-dimensional roadway data is obtained, that data is used to run computer simulations of a computer model of a specific vehicle being controlled by a generic vehicle control algorithm or system. The generic vehicle control algorithm is optimized by running the simulations utilizing the 3-dimensional roadway data until an acceptable performance result is achieved. Once an acceptable simulation is executed using the generic vehicle control algorithm, the control algorithm/system is used to run one or more real-world driving tests on the roadway for which the 3-dimensional data was obtained. Finally, the computer model for the vehicle is modified.

公开(公告)号：US20210132620A1

公开(公告)日：2021-05-06

申请号：US17147836

申请日：2021-01-13

Applicant: TuSimple, Inc.

Inventor： Jun CHEN ,  Wutu LIN ,  Liu LIU

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/00

Abstract: A system and method for implementing a neural network based vehicle dynamics model are disclosed. A particular embodiment includes: training a machine learning system with a training dataset corresponding to a desired autonomous vehicle simulation environment; receiving vehicle control command data and vehicle status data, the vehicle control command data not including vehicle component types or characteristics of a specific vehicle; by use of the trained machine learning system, the vehicle control command data, and vehicle status data, generating simulated vehicle dynamics data including predicted vehicle acceleration data; providing the simulated vehicle dynamics data to an autonomous vehicle simulation system implementing the autonomous vehicle simulation environment; and using data produced by the autonomous vehicle simulation system to modify the vehicle status data for a subsequent iteration.

公开(公告)号：US20210080353A1

公开(公告)日：2021-03-18

申请号：US17093172

申请日：2020-11-09

Applicant: TuSimple, Inc.

Inventor： Xing SUN ,  Wutu LIN ,  Yufei ZHAO ,  Liu LIU

IPC: G01M17/00 ,  B60W30/00

Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: configuring a sensor noise modeling module to produce simulated sensor errors or noise data with a configured degree, extent, and timing of simulated sensor errors or noise based on a set of modifiable parameters; using the simulated sensor errors or noise data to generate simulated perception data by simulating errors related to constraints of one or more of a 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.

公开(公告)号：US20190210564A1

公开(公告)日：2019-07-11

申请号：US16243821

申请日：2019-01-09

Applicant: TuSimple

Inventor： Xiaoling HAN ,  Charles A. PRICE ,  Lindong SUN ,  Liu LIU ,  Yi WANG ,  Ruiliang ZHANG

IPC: B60R25/30 ,  G05D1/00

CPC classification number: B60R25/30 ,  G05D1/0022 ,  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 the lack of coverage.

公开(公告)号：US20190163182A1

公开(公告)日：2019-05-30

申请号：US15827583

申请日：2017-11-30

Applicant: TuSimple

Inventor： Xingdong LI ,  Xing SUN ,  Wutu LIN ,  Liu LIU

IPC: G05D1/00 ,  G06F17/50 ,  G05D1/02 ,  G09B9/00

Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: receiving perception data from a plurality of perception data sensors; obtaining configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating a target position and target speed for each of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed.

公开(公告)号：US20190101923A1

公开(公告)日：2019-04-04

申请号：US15721781

申请日：2017-09-30

Applicant: TuSimple

Inventor： Xing SUN ,  Yufei ZHAO ,  Wutu LIN ,  Zijie XUAN ,  Liu LIU ,  Kai-Chieh MA

IPC: G05D1/02 ,  G05D1/00 ,  B25J9/16

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.

公开(公告)号：US20250042363A1

公开(公告)日：2025-02-06

申请号：US18922918

申请日：2024-10-22

Applicant: TuSimple, Inc.

Inventor： Jiaqi LIU ,  Ruiliang ZHANG ,  Xiaoling HAN ,  Lindong SUN ,  Liu LIU ,  Yi WANG

IPC: B60R25/30 ,  B60R25/102 ,  B60R25/32 ,  B60R25/33 ,  G06F21/55 ,  G06F21/57 ,  G06F21/60 ,  H04L9/32 ,  H04W4/40 ,  H04W4/80 ,  H04W4/90 ,  H04W12/106 ,  H04W12/108

Abstract: Disclosed are devices, systems and methods for securing wireless communications between a remote monitor center and a vehicle by using redundancy measures to increase the robustness of the system. In some embodiments, a system may include redundant communication channels, deploy redundant hardware and software stacks to enable switching to a backup in an emergency situation, and employ hypervisors at both the remote monitor center and the vehicle to monitor hardware and software resources and perform integrity checks. In other embodiments, message digests based on a cryptographic hash function and a plurality of predetermined commands are generated at both the remote monitor center and the vehicle, and compared to ensure the continuing integrity of the wireless communication system.

公开(公告)号：US20240288868A1

公开(公告)日：2024-08-29

申请号：US18507038

申请日：2023-11-11

Applicant: TUSIMPLE, INC.

Inventor： Xing SUN ,  Wutu LIN ,  Liu LIU ,  Kai-Chieh MA ,  Zijie XUAN ,  Yufei ZHAO

IPC: G05D1/00 ,  B62D15/02

CPC classification number: G05D1/0221 ,  B62D15/0255 ,  B62D15/026 ,  B62D15/0265

Abstract: A data-driven prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment includes: generating a first suggested trajectory for an autonomous vehicle; generating predicted resulting trajectories of proximate agents using a prediction module; scoring the first suggested trajectory based on the predicted resulting trajectories of the proximate agents; generating a second suggested trajectory for the autonomous vehicle and generating corresponding predicted resulting trajectories of proximate agents, if the score of the first suggested trajectory is below a minimum acceptable threshold; and outputting a suggested trajectory for the autonomous vehicle wherein the score corresponding to the suggested trajectory is at or above the minimum acceptable threshold.