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    OPTIMAL PATH LIBRARY FOR LOCAL PATH PLANNING OF AN AUTONOMOUS VEHICLE
    1.
    发明申请
    OPTIMAL PATH LIBRARY FOR LOCAL PATH PLANNING OF AN AUTONOMOUS VEHICLE 有权

    公开(公告)号：US20210294333A1

    公开(公告)日：2021-09-23

    申请号：US16826117

    申请日：2020-03-20

    Applicant: TUSIMPLE, INC.

    Inventor： Junbo JING ,  Arda KURT ,  Tianqu SHAO ,  Chasen SHERMAN ,  Xing SUN

    IPC: G05D1/02 ,  B62D15/02

    Abstract: Methods, systems and apparatus for autonomous vehicle path planning and path navigation are described. One example system includes an offline server configured to generate a library of optimal paths for navigating a geographic area, wherein the geographic area is represented as a grid node map and an orientation grid bin map and wherein the optimal paths correspond to paths between pairs of grid node pairs in the grid node map based on optimization criteria, a storage device on the autonomous vehicle for storing the library of optimal paths, and an online server located on the autonomous vehicle configured to access information from the library of optimal paths from the storage device based on a current position and a current heading of the autonomous vehicle, and navigating the autonomous vehicle through the geographic area based on the information.

    TWO-LEVEL PATH PLANNING FOR AUTONOMOUS VEHICLES
    3.
    发明申请
    TWO-LEVEL PATH PLANNING FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20210403032A1

    公开(公告)日：2021-12-30

    申请号：US16912444

    申请日：2020-06-25

    Applicant: TUSIMPLE, INC.

    Inventor： Junbo JING ,  Arda KURT ,  Yujia WU ,  Tianqu SHAO ,  Xing SUN ,  Zijie XUAN ,  Haoming SUN ,  Chasen SHERMAN

    IPC: B60W60/00 ,  G05D1/02 ,  G05D1/00 ,  H04W4/40

    Abstract: Described is a two-level optimal path planning process for autonomous tractor-trailer trucks which incorporates offline planning, online planning, and utilizing online estimation and perception results for adapting a planned path to real-world changes in the driving environment. In one aspect, a method of navigating an autonomous vehicle includes determining, by an online server, a current vehicle state of the autonomous vehicle in a mapped driving area. The method includes receiving, by the online server from an offline path library, a path for the autonomous driving vehicle through the mapped driving area from the current vehicle state to a destination vehicle state, and receiving fixed and moving obstacle information. The method includes adjusting the path to generate an optimized path that avoids the fixed and moving obstacles and ends at a targeted final vehicle state, and navigating the autonomous vehicle based on the optimized path.

    ADAPTIVE BRAKE MODE SELECTION
    4.
    发明申请
    ADAPTIVE BRAKE MODE SELECTION 有权

    公开(公告)号：US20210229668A1

    公开(公告)日：2021-07-29

    申请号：US16773541

    申请日：2020-01-27

    Applicant: TUSIMPLE, INC.

    Inventor： Junbo JING ,  Arda KURT ,  Chasen SHERMAN ,  Tianqu SHAO ,  Haoming SUN

    IPC: B60W30/18 ,  B60W60/00 ,  B60W10/18 ,  F02D9/06 ,  B60W10/06

    Abstract: Methods, systems, and devices related to a method of controlling an autonomous vehicle, in particular, an autonomous diesel-engine truck are disclosed. In one example aspect, the method includes determining an available engine brake torque generation mechanism for reducing a current speed of the autonomous vehicle to a lower speed and selecting a brake mode corresponding to the engine brake torque availability. In case a rate of speed reduction is equal to or smaller than a threshold, the brake mode includes only an engine brake in which engine exhaust valve opening is adjusted for reducing the current speed. The threshold determined in part based on the available engine brake torque, gear position of the transmission, and the online estimated vehicle longitudinal dynamic model. In case the rate of speed reduction is greater than the threshold, the brake mode incudes a combination of the engine brake and the foundation brake.

    VEHICLE POWERTRAIN INTEGRATED PREDICTIVE DYNAMIC CONTROL FOR AUTONOMOUS DRIVING
    6.
    发明申请
    VEHICLE POWERTRAIN INTEGRATED PREDICTIVE DYNAMIC CONTROL FOR AUTONOMOUS DRIVING 有权

    公开(公告)号：US20220242413A1

    公开(公告)日：2022-08-04

    申请号：US17164207

    申请日：2021-02-01

    Applicant: TUSIMPLE, INC.

    Inventor： Junbo JING ,  Dinghua LI ,  Arda KURT ,  Chasen SHERMAN

    IPC: B60W30/19 ,  B60W60/00 ,  G01C21/34

    Abstract: Devices, systems, and methods for integrated predictive dynamic control of a vehicle powertrain in an autonomous vehicle are described. An example method for controlling a vehicle includes generating, based on performing an optimization on a blended smooth wheel domain fuel consumption map subject to a modified torque availability constraint, one or more wheel domain control commands, converting the one or more wheel domain control commands to one or more powertrain-executable engine domain control commands, and transmitting the one or more powertrain-executable engine domain control commands to a powertrain of the vehicle, the powertrain configured to operate a plurality of gears, wherein the one or more powertrain-executable engine domain control commands enable the vehicle to track a reference kinematic trajectory associated with a vehicle speed driving plan within a predetermined tolerance.

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