公开(公告)号：US20220026912A1

公开(公告)日：2022-01-27

申请号：US16934989

申请日：2020-07-21

Applicant: TUSIMPLE, INC.

Inventor： Yujia WU ,  Zijie XUAN ,  Arda KURT

IPC: G05D1/02

Abstract: Techniques are described to determine parameters and/or values for a control model that can be used to operate an autonomous vehicle, such as an autonomous semi-trailer truck. For example, a method of obtaining a data-driven model for autonomous driving may include obtaining data associated with a first set of variables that characterize movements of an autonomous vehicle over time and commands provided to the autonomous vehicle over time, determining, using at least the first set of data, non-zero values and an associated second set of variables that describe a control model used to perform an autonomous driving operation of the autonomous vehicle, and calculating values for a feedback controller that describes a transfer function used to perform the autonomous driving operation of the autonomous vehicle driven on a road.

公开(公告)号：US20190072966A1

公开(公告)日：2019-03-07

申请号：US15806013

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, generating a proposed trajectory for the host vehicle, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle based on the proposed host vehicle trajectory, 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：US20190072960A1

公开(公告)日：2019-03-07

申请号：US15698375

申请日：2017-09-07

Applicant: TuSimple

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

IPC: G05D1/00 ,  B60W40/09

Abstract: A system and method for using human driving patterns to manage speed control for autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to desired human driving behaviors; training a human driving model module using a reinforcement learning process and the desired human driving behaviors; receiving a proposed vehicle speed control command; determining if the proposed vehicle speed control command conforms to the desired human driving behaviors by use of the human driving model module; and validating or modifying the proposed vehicle speed control command based on the determination.

公开(公告)号：US20190001977A1

公开(公告)日：2019-01-03

申请号：US15806127

申请日：2017-11-07

Applicant: TuSimple

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

IPC: B60W30/16 ,  B60W30/14

Abstract: A system and method for adaptive cruise control with proximate vehicle detection are disclosed. The example embodiment can be configured for: receiving input object data from a subsystem of a host vehicle, the input object data including distance data and velocity data relative to detected target vehicles; detecting the presence of any target vehicles within a sensitive zone in front of the host vehicle, to the left of the host vehicle, and to the right of the host vehicle; determining a relative speed and a separation distance between each of the detected target vehicles relative to the host vehicle; and generating a velocity command to adjust a speed of the host vehicle based on the relative speeds and separation distances between the host vehicle and the detected target vehicles to maintain a safe separation between the host vehicle and the target vehicles.