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公开(公告)号：US20220130255A1
公开(公告)日：2022-04-28
申请号：US17647163
申请日：2022-01-05
申请人： TuSimple, Inc.
发明人： Panqu Wang
摘要： A system and method for determining car to lane distance is provided. In one aspect, the system includes a camera configured to generate an image, a processor, and a computer-readable memory. The processor is configured to receive the image from the camera, generate a wheel segmentation map representative of one or more wheels detected in the image, and generate a lane segmentation map representative of one or more lanes detected in the image. For at least one of the wheels in the wheel segmentation map, the processor is also configured to determine a distance between the wheel and at least one nearby lane in the lane segmentation map. The processor is further configured to determine a distance between a vehicle in the image and the lane based on the distance between the wheel and the lane.
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公开(公告)号：US20220076446A1
公开(公告)日：2022-03-10
申请号：US17531447
申请日：2021-11-19
申请人： TUSIMPLE, INC.
发明人： Yijie WANG , Lingting GE , Yiqian GAN , Xiaodi HOU
摘要： Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.
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公开(公告)号：US20220055405A1
公开(公告)日：2022-02-24
申请号：US17000030
申请日：2020-08-21
申请人： TUSIMPLE, INC.
摘要： Techniques are described for determining whether snow chains are permitted to be used and to deploy snow chains based on traffic signs, weather conditions, and/or road conditions. An example method of autonomous driving operation includes performing a first determination, by a computer located in an autonomous vehicle, whether a use of snow chains is permitted based at least on a location where the autonomous vehicle is operating, performing a second determination that snow chains are required for driving the autonomous vehicle on a road, and sending, in response to the first determination indicating that the use of snow chains is permitted and in response to the second determination, instruction to snow chain devices located on the autonomous vehicle, where the instruction triggers the snow chain devices to deploy snow chains on tires of the autonomous vehicle.
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公开(公告)号：US20210406810A1
公开(公告)日：2021-12-30
申请号：US16917699
申请日：2020-06-30
申请人： TUSIMPLE, INC.
发明人： Xiaodi HOU , Jason WALLACE , Cheng LU
IPC分类号： G06Q10/08
摘要： Systems and techniques disclosed in this patent document provide novel and efficient ground transportation of goods by self-driving trucks based on a system of infrastructures with shipping hub facilities serving as warehouses and services centers in accordance with unique characteristics of operating autonomous self-driving trucks without entirely relying on human drivers, including features to cover technological issues, fleet management issues, and customer service issues. In addition, the disclosed systems and techniques may be implemented to integrate other fleet services and modes of transportation of goods with transportation services by self-driving trucks.
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公开(公告)号：US20210405647A1
公开(公告)日：2021-12-30
申请号：US16917772
申请日：2020-06-30
申请人： TuSimple, Inc.
发明人： Minhao Jiang , Genmao Shi , Hsin Lu , Ziqi Liu
IPC分类号： G05D1/02
摘要： Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving are disclosed. In one aspect, a control system for an autonomous vehicle 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 a 3D map including a plurality of objects, determine a base point in the 3D map, shift the objects in the 3D map based on the base point, project the objects in the shifted 3D map to a 2D map, and output the 2D map.
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公开(公告)号：US20210402962A1
公开(公告)日：2021-12-30
申请号：US17363887
申请日：2021-06-30
申请人： TUSIMPLE, INC.
发明人： Qiwei LI , Todd B. SKINNER
IPC分类号： B60S1/56 , B60S1/06 , B60S1/54 , B60S1/52 , B60S1/48 , B08B13/00 , B08B1/00 , B08B3/02 , G02B27/00
摘要： A camera cleaning system for an autonomous vehicle may include a platform that can accommodate multiple cameras, wiper systems, as well as a fluid delivery system. The wiper system may include a wiper, rail, and a hydraulic motion component for each camera. The platform surface that contacts the wiper system's wipers and cleaning fluid may be angled and may include a window or lens for each camera. The autonomous vehicle may include a controller that may decide when a camera cleaning protocol should be executed. Alternatively, or additionally, a camera cleaning protocol may be executed periodically, as indicated by a controller.
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公开(公告)号：US20210394770A1
公开(公告)日：2021-12-23
申请号：US16910012
申请日：2020-06-23
申请人： TUSIMPLE, INC.
发明人： Frederic Rocha , Zehua Huang , Xiaoling Han , Ruiliang Zhang , Esayas Naizghi , Changyi Zhao
IPC分类号： B60W50/023 , B60W60/00 , G06K9/00
摘要： A redundant hardware and software architecture can be designed to enable vehicles to be operated in an autonomous mode while improving the reliability and/or safety of such vehicles. A system for redundant architecture can include a set of at least two redundant sensors coupled to a vehicle and configured to provide timestamped sensor data to each of a plurality of computing unit (CU) computers. The CU computers can process the sensor data simultaneously based on at least a time value indicative of an absolute time or a relative time and based on the timestamped sensor data. The CU computers provide to a vehicle control unit (VCU) computer at least two sets of outputs configured to instruct a plurality of devices in a vehicle and cause the vehicle to be driven.
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公开(公告)号：US20210394570A1
公开(公告)日：2021-12-23
申请号：US17346567
申请日：2021-06-14
申请人： TUSIMPLE, INC.
摘要： Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).
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公开(公告)号：US20210344849A1
公开(公告)日：2021-11-04
申请号：US17374112
申请日：2021-07-13
申请人： TUSIMPLE, INC.
发明人： Lei NIE
IPC分类号： H04N5/247 , G01S13/86 , H04N5/225 , G01S13/931 , G01S19/49
摘要： Disclosed are devices and systems for an optimized sensor layout for an autonomous or semi-autonomous vehicle. In one aspect, the system includes a vehicle capable of semi-autonomous or autonomous operation. A plurality of forward-facing cameras is coupled to the vehicle and configured to have a field of view in front of the vehicle. At least three forward-facing cameras of the plurality of forward-facing cameras have different focal lengths. A right-side camera is coupled to the right side of the vehicle, the right-side camera configured to have a field of view to the right of the vehicle. A left-side camera is coupled to the left side of the vehicle, the left-side camera is configured to have a field of view to the left of the vehicle.
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公开(公告)号：US20210319584A1
公开(公告)日：2021-10-14
申请号：US17225396
申请日：2021-04-08
申请人： TUSIMPLE, INC.
发明人： Chenzhe QIAN , Yi LUO , Ke XU , Mingdong WANG , Xiaodi HOU
IPC分类号： G06T7/73
摘要： Techniques are described for estimating pose of a camera located on a vehicle. An exemplary method of estimating camera pose includes obtaining, from a camera located on a vehicle, an image including a lane marker on a road on which the vehicle is driven, and estimating a pose of the camera such that the pose of the camera provides a best match according to a criterion between a first position of the lane marker determined from the image and a second position of the lane marker determined from a stored map of the road.
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