公开(公告)号：US12113885B2

公开(公告)日：2024-10-08

申请号：US17186476

申请日：2021-02-26

Applicant: TUSIMPLE, INC. ,  BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.

Inventor： Xiaoling Han ,  Junjun Xin ,  Lei Nie ,  Yue Pan ,  Yu Zhang ,  Jade E. Day ,  Zehua Huang ,  Esayas Naizghi ,  Pingyuan Ji ,  Zhiqi Gong

IPC: H04L7/00 ,  G01C21/16 ,  G01C21/28 ,  G01S17/931 ,  G01S19/01 ,  H04L67/12

CPC classification number: H04L7/0016 ,  G01C21/16 ,  G01C21/28 ,  G01S17/931 ,  G01S19/01 ,  H04L67/12

Abstract: Devices, systems, and methods for hardware-based time synchronization for heterogenous sensors are described. An example method includes generating a plurality of input trigger pulses having a nominal pulse-per-second (PPS) rate, generating, based on timing information derived from the plurality of input trigger pulses, a plurality of output trigger pulses, and transmitting the plurality of output trigger pulses to a sensor of a plurality of sensors, wherein a frequency of the plurality of output trigger pulses corresponds to a target operating frequency of the sensor, wherein, in a case that a navigation system coupled to the synchronization unit is functioning correctly, the plurality of input trigger pulses is generated based on a nominal PPS signal from the navigation unit, and wherein, in a case that the navigation system is not functioning correctly, the plurality of input trigger pulses is generated based on a simulated clock source of the synchronization unit.

公开(公告)号：US12100190B2

公开(公告)日：2024-09-24

申请号：US18335785

申请日：2023-06-15

Applicant: TUSIMPLE, INC.

Inventor： Siyuan Liu ,  Lingting Ge ,  Chenzhe Qian ,  Zehua Huang ,  Xiaodi Hou

IPC: G06K9/00 ,  B60W60/00 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/25 ,  G06V10/82 ,  G06V20/58

CPC classification number: G06V10/25 ,  B60W60/0025 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/82 ,  G06V20/58 ,  G06V20/584 ,  B60W2420/403 ,  B60W2554/00 ,  G06T2207/20132 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2210/12

Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.

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：US20240019267A1

公开(公告)日：2024-01-18

申请号：US18353352

申请日：2023-07-17

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Zehua Huang

IPC: G01C25/00 ,  G01C11/04 ,  G01S17/10 ,  G01S7/48 ,  G01C9/06 ,  G06T7/80 ,  H04N17/00 ,  G01S7/4865 ,  G01S17/931 ,  G01S17/46 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89

CPC classification number: G01C25/00 ,  G01C11/04 ,  G01S17/10 ,  G01S7/4808 ,  G01C9/06 ,  G06T7/80 ,  H04N17/002 ,  G01S7/4865 ,  G01S17/931 ,  G01S17/46 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89 ,  G01C2009/066

Abstract: Technique for performing camera calibration on a vehicle is disclosed. A method of performing camera calibration includes emitting, by a laser emitter located on a vehicle and pointed towards a road, a first laser pulse group towards a first location on a road and a second laser pulse group towards a second location on the road, where each laser pulse group includes one or more laser spots. For each laser pulse group: a first set of distances are calculated from a location of a laser receiver to the one or more laser spots, and a second set of distances are determined from an image obtained from a camera, where the second set of distances are from a location of the camera to the one or more laser spots. The method also includes determining two camera calibration parameters of the camera by solving two equations.

公开(公告)号：US20230219488A1

公开(公告)日：2023-07-13

申请号：US18149901

申请日：2023-01-04

Applicant: TuSimple, Inc.

Inventor： Yu-Ju Hsu ,  Xiaoling Han ,  Yijing Li ,  Zehua Huang ,  Lingting Ge ,  Panqu Wang ,  Shuhan Yang

IPC: B60Q1/14

CPC classification number: B60Q1/143 ,  B60Q2300/054 ,  B60Q2300/42 ,  G06V20/58

Abstract: A system comprises a headlight mounted on an autonomous vehicle. The headlight is configured to illuminate at least a portion of a road the autonomous vehicle is on. The system further comprises a control device associated with the autonomous vehicle. The processor obtains information about an environment around the autonomous vehicle. The processor determines that at least a portion of the road should be illuminated if the information indicates that an illumination level of the portion of the road is less than a threshold illumination level. The processor adjusts the headlight to illuminate at least the portion of the road in response to determining that at least the portion of the road should be illuminated.

公开(公告)号：US20230174005A1

公开(公告)日：2023-06-08

申请号：US18161355

申请日：2023-01-30

Applicant: TuSimple, Inc.

Inventor： Kaixin ZHENG ,  Xiaoling Han ,  Zehua Huang ,  Yue Pan ,  Zhaohan Jia

IPC: B60R16/023 ,  G07C5/08

CPC classification number: B60R16/0232 ,  G07C5/085 ,  G05D1/0088

Abstract: A power management system is disclosed for managing power in a vehicle. The system may include a power distribution unit (PDU) communicably coupled to a power controller unit located in the vehicle. The power controller unit comprises a microcontroller configured to: receive, from the PDU, a temperature value that indicates a temperature of the PDU, one or more voltage values from the one or more voltage sensors, or one or more current values from the one or more current sensors, perform a determination that the temperature value, the one or more voltage values, or the one or more current values are below one or more of their respective pre-determined threshold values, and send, after the determination, a health status message to a computer located in the vehicle, where the health status message indicates that the PDU is operating in a safe operating condition.

公开(公告)号：US11639177B2

公开(公告)日：2023-05-02

申请号：US17022875

申请日：2020-09-16

Applicant: TUSIMPLE, INC.

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

IPC: B60W40/068 ,  B60W10/18 ,  B60W30/14

Abstract: Techniques are described for estimating road friction between a road and tires of a vehicle. A method includes receiving, from a temperature sensor on a vehicle, a temperature value that indicates a temperature of an environment in which a vehicle is operated, determining a first range of friction values that quantify a friction between a road and tires of a vehicle based on a function of the temperature value and an extent of precipitation in a region that indicate a hazardous driving condition, obtaining, from the first range of friction values, a value that quantifies the friction between the road and the tires of the vehicle, where the value is obtained based on a driving related behavior of the vehicle, and causing the vehicle to operate on the road based on the value obtained from the first range of friction values.

公开(公告)号：US11597337B2

公开(公告)日：2023-03-07

申请号：US16781936

申请日：2020-02-04

Applicant: TUSIMPLE, INC.

Inventor： Kaixin Zheng ,  Xiaoling Han ,  Zehua Huang ,  Yue Pan ,  Zhaohan Jia

IPC: H02H3/08 ,  B60R16/023 ,  G07C5/08 ,  G05D1/00

Abstract: A power management system is disclosed for managing power in a vehicle. The system may include a power distribution unit (PDU) communicably coupled to a power controller unit located in the vehicle. The power controller unit comprises a microcontroller configured to: receive, from the PDU, a temperature value that indicates a temperature of the PDU, one or more voltage values from the one or more voltage sensors, or one or more current values from the one or more current sensors, perform a determination that the temperature value, the one or more voltage values, or the one or more current values are below one or more of their respective pre-determined threshold values, and send, after the determination, a health status message to a computer located in the vehicle, where the health status message indicates that the PDU is operating in a safe operating condition.

公开(公告)号：US11461922B2

公开(公告)日：2022-10-04

申请号：US16909987

申请日：2020-06-23

Applicant: TUSIMPLE, INC.

Inventor： Lingting Ge ,  Siyuan Liu ,  Zehua Huang ,  Yijie Wang

IPC: G06T7/70 ,  G06T7/11 ,  B60W60/00 ,  G01C21/30 ,  G06V20/58

Abstract: Image processing techniques are described to receive bounding box information that describes a bounding box located around a detected object in an image, determine one or more positions of one or more reference points on the bounding box, determine, for each reference point, 3D world coordinates of a point of intersection of the reference point and the road surface, and assign the 3D world coordinates of the one or more reference points to a location of the detected object.

公开(公告)号：US11169513B2

公开(公告)日：2021-11-09

申请号：US16370056

申请日：2019-03-29

Applicant: TuSimple, Inc.

Inventor： Zehua Huang ,  Yixin Yang

IPC: G05B23/02 ,  G05D1/00

Abstract: Disclosed are devices, systems and methods for the operational testing on autonomous vehicles. One exemplary method includes configuring a primary vehicular model with an algorithm, calculating one or more trajectories for each of one or more secondary vehicular models that exclude the algorithm, configuring the one or more secondary vehicular models with a corresponding trajectory of the one or more trajectories, generating an updated algorithm based on running a simulation of the primary vehicular model interacting with the one or more secondary vehicular models that conform to the corresponding trajectory in the simulation, and integrating the updated algorithm into an algorithmic unit of the autonomous vehicle.