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公开(公告)号：US11200430B2
公开(公告)日：2021-12-14
申请号：US16181020
申请日：2018-11-05
Applicant: TuSimple, Inc.
Inventor： Yi Luo , Xiaoling Han , Xue Mei
Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
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公开(公告)号：US20200271473A1
公开(公告)日：2020-08-27
申请号：US15896077
申请日：2018-02-14
Applicant: TuSimple, Inc.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
Abstract: Various embodiments of the present disclosure provide a system and method for lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a camera; and a computer connected to the locating device, database, and camera, wherein the computer is adapted to: receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and generate a predicted vehicle location based on the comparison of the response map and the region map.
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公开(公告)号：US20200271453A1
公开(公告)日：2020-08-27
申请号：US16184926
申请日：2018-11-08
Applicant: TuSimple, Inc.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
IPC: G01C21/30
Abstract: Various embodiments of the present disclosure provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.
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公开(公告)号：US20230410537A1
公开(公告)日：2023-12-21
申请号：US18462244
申请日：2023-09-06
Applicant: TuSimple, Inc.
Inventor： Yi Luo , Xiaoling Han , Xue Mei
IPC: G06V20/56 , G06T7/73 , G01S17/931 , G01S17/42 , G08G1/16
CPC classification number: G06V20/588 , G06T7/73 , G01S17/931 , G01S17/42 , G08G1/167 , B60R1/002
Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
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公开(公告)号：US11740093B2
公开(公告)日：2023-08-29
申请号：US17320888
申请日：2021-05-14
Applicant: TUSIMPLE, INC.
Inventor： Mingdong Wang , Chenzhe Qian , Xue Mei
CPC classification number: G01C21/30
Abstract: Various embodiments provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.
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Patent Agency Ranking
公开(公告)号：US11580754B2
公开(公告)日：2023-02-14
申请号：US16846205
申请日：2020-04-10
Applicant: TUSIMPLE, INC.
Inventor： Xue Mei , Xiaodi Hou , Dazhou Guo , Yujie Wei
IPC: G06K9/00 , G06V20/56 , B60R11/04 , G07C5/00 , G01S17/42 , G06N3/02 , G06T7/10 , G06T7/246 , G06T5/50 , G06N3/04 , G06N3/08 , G01C21/00
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.
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公开(公告)号：US11195300B2
公开(公告)日：2021-12-07
申请号：US16717937
申请日：2019-12-17
Applicant: TuSimple, Inc.
Inventor： Xiaodi Hou , Xue Mei
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).
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公开(公告)号：US11019274B2
公开(公告)日：2021-05-25
申请号：US16127022
申请日：2018-09-10
Applicant: TuSimple, Inc.
Inventor： Ke Xu , Xue Mei , Zehua Huang
Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.
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29.发明申请公开(公告)号：US20200242373A1
公开(公告)日：2020-07-30
申请号：US16846205
申请日：2020-04-10
Applicant: TUSIMPLE, INC.
Inventor： Xue Mei , Xiaodi HOU , Dazhou GUO , Yujie WE
IPC: G06K9/00 , G06N3/08 , G06N3/04 , G06T5/50 , G01S17/89 , G06T7/246 , G06T7/10 , G01C21/32 , G06N3/02 , G01S17/42 , G07C5/00 , B60R11/04
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.
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公开(公告)号：US20200084361A1
公开(公告)日：2020-03-12
申请号：US16127022
申请日：2018-09-10
Applicant: TuSimple
Inventor： Ke Xu , Xue Mei , Zehua Huang
Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.
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