公开(公告)号：US11681292B2

公开(公告)日：2023-06-20

申请号：US17111984

申请日：2020-12-04

Applicant: TuSimple, Inc.

Inventor： Xingdong Li ,  Xing Sun ,  Wutu Lin ,  Liu Liu

IPC: G05D1/00 ,  G05D1/02 ,  G09B9/00 ,  G09B9/04 ,  G09B9/048 ,  G09B19/16 ,  G06F30/15 ,  G06F30/20 ,  G06F111/10

CPC classification number: G05D1/0088 ,  G05D1/0027 ,  G05D1/0223 ,  G06F30/15 ,  G06F30/20 ,  G09B9/00 ,  G09B9/04 ,  G09B9/048 ,  G09B19/167 ,  G05D2201/0213 ,  G06F2111/10

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：US11550329B2

公开(公告)日：2023-01-10

申请号：US17147836

申请日：2021-01-13

Applicant: TuSimple, Inc.

Inventor： Jun Chen ,  Wutu Lin ,  Liu Liu

IPC: G06G7/48 ,  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：US11435748B2

公开(公告)日：2022-09-06

申请号：US16929954

申请日：2020-07-15

Applicant: TUSIMPLE, INC.

Inventor： Xing Sun ,  Wutu Lin ,  Liu Liu ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/02 ,  G05D1/00 ,  G05B13/04 ,  G06N20/00

Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.

公开(公告)号：US11312334B2

公开(公告)日：2022-04-26

申请号：US16243821

申请日：2019-01-09

Applicant: TuSimple, Inc.

Inventor： Xiaoling Han ,  Charles A. Price ,  Lindong Sun ,  Liu Liu ,  Yi Wang ,  Ruiliang Zhang

IPC: B60R25/30 ,  G05D1/00 ,  H04W4/80 ,  H04W84/04 ,  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：US11305782B2

公开(公告)日：2022-04-19

申请号：US16245621

申请日：2019-01-11

Applicant: TuSimple, Inc.

Inventor： Lindong Sun ,  Liu Liu ,  Xiaoling Han ,  Yi Wang ,  Ruiliang Zhang

IPC: B60W50/02 ,  G05D1/00 ,  G07C5/00 ,  G07C5/08 ,  G05D1/02 ,  G05B23/00

Abstract: Disclosed are devices, systems and methods for a monitoring system for autonomous vehicle operation. In some embodiments, a vehicle may perform self-tests, generate a report based on the results, and transmit it to a remote monitor center over one or both of a high-speed channel for regular data transfers or a reliable channel for emergency situations. In other embodiments, the remote monitor center may determine that immediate intervention is required, and may transmit a control command with high priority, which when received by the vehicle, is implemented and overrides any local commands being processed. In yet other embodiments, the control command with high priority is selected from a small group of predetermined control commands the remote monitor center may issue.

公开(公告)号：US11040710B2

公开(公告)日：2021-06-22

申请号：US16416244

申请日：2019-05-19

Applicant: TuSimple, Inc.

Inventor： Wutu Lin ,  Liu Liu ,  Xing Sun

IPC: G05D1/00 ,  B60W30/02 ,  G06N20/00 ,  G06N3/08

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：US10860018B2

公开(公告)日：2020-12-08

申请号：US15827583

申请日：2017-11-30

Applicant: TuSimple, Inc.

Inventor： Xingdong Li ,  Xing Sun ,  Wutu Lin ,  Liu Liu

IPC: G06F30/10 ,  G05D1/00 ,  G05D1/02 ,  G09B9/00 ,  G09B9/04 ,  G09B9/048 ,  G09B19/16 ,  G06F30/15 ,  G06F30/20 ,  G06F111/10

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：US10830669B2

公开(公告)日：2020-11-10

申请号：US16660244

申请日：2019-10-22

Applicant: TuSimple, Inc.

Inventor： Xing Sun ,  Wutu Lin ,  Yufei Zhao ,  Liu Liu

IPC: G05D1/00 ,  G01M17/00 ,  B60W30/00

Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: receiving perception data from a plurality of sensors of an autonomous vehicle; configuring the perception simulation operation based on a comparison of the perception data against ground truth data; generating simulated perception data by simulating errors related to the physical constraints of one or more of the 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：US10752246B2

公开(公告)日：2020-08-25

申请号：US15806127

申请日：2017-11-07

Applicant: TuSimple, Inc.

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.

公开(公告)号：US10737695B2

公开(公告)日：2020-08-11

申请号：US15640516

申请日：2017-07-01

Applicant: TuSimple, Inc.

Inventor： Liu Liu ,  Wutu Lin

IPC: B60W30/16 ,  B60W50/08 ,  B60W50/00

Abstract: A system and method for adaptive cruise control for low speed following are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjusting the velocity command using a dynamic gain; and controlling the autonomous vehicle to conform to the adjusted velocity command.