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公开(公告)号：US12071101B2
公开(公告)日：2024-08-27
申请号：US17660519
申请日：2022-04-25
Applicant: TUSIMPLE, INC.
Inventor： Xiaoling Han , Charles A. Price , Lindong Sun , Liu Liu , Yi Wang , Ruiliang Zhang
CPC classification number: B60R25/30 , G05D1/0022 , G05D1/0077 , H04W4/80 , H04W84/042 , 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 a lack of coverage.
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公开(公告)号：US11292480B2
公开(公告)日：2022-04-05
申请号：US16569640
申请日：2019-09-12
Applicant: TuSimple, Inc.
Inventor： Yi Wang , Lindong Sun , Liu Liu , Xiaoling Han , Ruiliang Zhang
Abstract: Disclosed are devices, systems and methods for remote safe driving. One exemplary method includes detecting an emergency situation, and in response to the detecting the emergency situation, switching operation of the vehicle to a low-power operation mode that comprises shutting down a subset of vehicular components, and periodically transmitting a location of the vehicle to a remote monitoring center. Another exemplary method includes selecting at least one of a set of vehicular driving actions, and transmitting, over a secure connection, the at least one of the set of vehicular driving actions to the vehicle, wherein the set of vehicular driving actions is generated based on a classification of driver behavior.
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公开(公告)号：US10762673B2
公开(公告)日：2020-09-01
申请号：US15684363
申请日：2017-08-23
Applicant: TuSimple, Inc.
IPC: G06T11/00 , G01S17/89 , G01C21/26 , G06K9/46 , G06K9/62 , G01C21/20 , G01C21/32 , G01S5/16 , G06K9/00 , G01S17/86 , G01S17/931 , G01S19/47 , G01S19/48
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes.
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公开(公告)号：US20200184232A1
公开(公告)日：2020-06-11
申请号：US16792129
申请日：2020-02-14
Applicant: TUSIMPLE, INC.
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
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5.发明授权公开(公告)号：US10552979B2
公开(公告)日：2020-02-04
申请号：US15703885
申请日：2017-09-13
Applicant: TUSIMPLE
Inventor： Wentao Zhu , Yi Wang , Yi Luo
Abstract: A method of visual odometry for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs includes instructions, which when executed by a computing device, causes the computing device to perform the following steps comprising: performing data alignment among sensors including a LiDAR, cameras and an IMU-GPS module; collecting image data and generating point clouds; processing, in the IMU-GPS module, a pair of consecutive images in the image data to recognize pixels corresponding to a same point in the point clouds; and establishing an optical flow for visual odometry.
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Patent Agency Ranking
公开(公告)号：US10360686B2
公开(公告)日：2019-07-23
申请号：US15621945
申请日：2017-06-13
Applicant: TUSIMPLE
Inventor： Yi Wang , Yi Luo , Wentao Zhu , Panqu Wang
Abstract: A system for generating a ground truth dataset for motion planning of a vehicle is disclosed. The system includes an internet server that further includes an I/O port, configured to transmit and receive electrical signals to and from a client device; a memory; one or more processing units; and one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for: a corresponding module configured to correspond, for each pair of images, a first image of the pair to a LiDAR static-scene point cloud; and a computing module configured to compute a camera pose associated with the pair of images in the coordinate of the point cloud.
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7.发明授权公开(公告)号：US10671083B2
公开(公告)日：2020-06-02
申请号：US15703879
申请日：2017-09-13
Applicant: TuSimple, Inc.
Inventor： Wentao Zhu , Yi Wang , Yi Luo
IPC: G05D1/02 , G06K9/46 , G01C21/32 , G06K9/62 , G06T7/246 , G01C21/16 , G01S17/89 , G06N5/02 , G06N20/00 , G06T7/269 , G01C22/00 , G01S17/42 , G01S7/48 , G01S17/86
Abstract: A system for visual odometry is disclosed. The system includes: an internet server, comprising: an I/O port, configured to transmit and receive electrical signals to and from a client device; a memory; one or more processing units; and one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for: extracting representative features from a pair input images in a first convolution neural network (CNN) in a visual odometry model; merging, in a first merge module, outputs from the first CNN; decreasing feature map size in a second CNN; generating a first flow output for each layer in a first deconvolution neural network (DNN); merging, in a second merge module, outputs from the second CNN and the first DNN; generating a second flow output for each layer in a second DNN; and reducing accumulated errors in a recurrent neural network (RNN).
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公开(公告)号：US10565457B2
公开(公告)日：2020-02-18
申请号：US15684389
申请日：2017-08-23
Applicant: TUSIMPLE, INC.
Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
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公开(公告)号：US12202492B2
公开(公告)日：2025-01-21
申请号：US17656412
申请日：2022-03-24
Applicant: TUSIMPLE, INC.
Inventor： Yi Wang , Lindong Sun , Liu Liu , Xiaoling Han , Ruiliang Zhang
Abstract: Devices, systems and methods for remote safe driving of an autonomous vehicle are described. One exemplary method includes selecting, based on a classification of driver behavior, at least one of a set of driving actions and transmitting, to a vehicle over a secure communication channel, the at least one of the set of driving actions.
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公开(公告)号：US12151648B2
公开(公告)日：2024-11-26
申请号：US17255998
申请日：2019-06-20
Applicant: TUSIMPLE, INC.
Inventor： Jiaqi Liu , Ruiliang Zhang , Xiaoling Han , Lindong Sun , Liu Liu , Yi Wang
IPC: B60R25/30 , B60R25/102 , B60R25/32 , B60R25/33 , G06F21/55 , G06F21/57 , G06F21/60 , H04L9/32 , H04W4/40 , H04W4/80 , H04W4/90 , H04W12/106 , H04W12/108
Abstract: Disclosed are devices, systems and methods for securing wireless communications between a remote monitor center and a vehicle by using redundancy measures to increase the robustness of the system. In some embodiments, a system may include redundant communication channels, deploy redundant hardware and software stacks to enable switching to a backup in an emergency situation, and employ hypervisors at both the remote monitor center and the vehicle to monitor hardware and software resources and perform integrity checks. In other embodiments, message digests based on a cryptographic hash function and a plurality of predetermined commands are generated at both the remote monitor center and the vehicle, and compared to ensure the continuing integrity of the wireless communication system.
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