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    Lane Marking Localization
    21.
    发明申请
    Lane Marking Localization 审中-公开

    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

    IPC: G01C21/36 ,  G01C21/32

    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.

    LANE MARKING LOCALIZATION AND FUSION
    22.
    发明申请
    LANE MARKING LOCALIZATION AND FUSION 审中-公开

    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.

    SYSTEMS AND METHODS FOR DETECTING TRAILER ANGLE
    23.
    发明公开
    SYSTEMS AND METHODS FOR DETECTING TRAILER ANGLE 审中-公开

    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.

    Lane marking localization and fusion
    24.
    发明授权
    Lane marking localization and fusion 有权

    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

    IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/30

    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.

    Smoothness constraint for camera pose estimation
    26.
    发明授权
    Smoothness constraint for camera pose estimation 有权

    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

    IPC: G06T7/73 ,  G06T7/246 ,  G05D1/02

    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).

    Adaptive illumination for a time-of-flight camera on a vehicle
    27.
    发明授权
    Adaptive illumination for a time-of-flight camera on a vehicle 有权

    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

    IPC: H04N5/235 ,  H04N5/353 ,  G05D1/00 ,  G05D1/02 ,  B60R11/04

    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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