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    Two-level path planning for autonomous vehicles
    1.
    发明授权
    Two-level path planning for autonomous vehicles 有权

    公开(公告)号：US12122419B2

    公开(公告)日：2024-10-22

    申请号：US16912444

    申请日：2020-06-25

    申请人： TUSIMPLE, INC.

    发明人： Junbo Jing ,  Arda Kurt ,  Yujia Wu ,  Tianqu Shao ,  Xing Sun ,  Zijie Xuan ,  Haoming Sun ,  Chasen Sherman

    IPC分类号： B60W60/00 ,  G05D1/00 ,  H04W4/40

    CPC分类号： B60W60/0011 ,  G05D1/0022 ,  G05D1/0274 ,  H04W4/40

    摘要： 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.

    PROACTIVE LANE CHANGE FOR AUTONOMOUS VEHICLES
    2.
    发明申请
    PROACTIVE LANE CHANGE FOR AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220227390A1

    公开(公告)日：2022-07-21

    申请号：US17150360

    申请日：2021-01-15

    申请人： TuSimple, Inc.

    发明人： Lei Wang ,  Yujia Wu ,  Yufei Zhao ,  Weiyang Zhang ,  Haoming Sun

    IPC分类号： B60W60/00 ,  B60W30/18

    摘要： A system includes an autonomous vehicle (AV) configured to travel along a road and a control device communicatively coupled to the AV. The control device determines that the AV should move from a current lane of the road to an adjacent lane of the road. The control device determines two or more candidate windows into which the AV may move in the adjacent lane. Each candidate window corresponds to a space in the adjacent lane between two vehicles traveling in the adjacent lane. The control device determines that the AV should move into a first candidate window, and, in response to this determination, causes the AV to begin moving along a trajectory leading to the first candidate window (e.g., by accelerating or decelerating).

    SYSTEMS AND METHODS FOR DYNAMIC PREDICTIVE CONTROL OF AUTONOMOUS VEHICLES
    3.
    发明申请
    SYSTEMS AND METHODS FOR DYNAMIC PREDICTIVE CONTROL OF AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220291687A1

    公开(公告)日：2022-09-15

    申请号：US17805219

    申请日：2022-06-02

    申请人： TuSimple, Inc.

    发明人： Aaron Havens ,  Jun Chen ,  Yujia Wu ,  Haoming Sun ,  Zijie Xuan ,  Arda Kurt

    IPC分类号： G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02

    摘要： Systems and methods for dynamic predictive control of autonomous vehicles are disclosed. In one aspect, an in-vehicle control system for a semi-truck includes one or more control mechanisms configured to control movement of the semi-truck and a processor. The system further includes computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive a desired trajectory and a vehicle status of the semi-truck, determine a dynamic model of the semi-truck based on the desired trajectory and the vehicle status, determine at least one quadratic program (QP) problem based on the dynamic model, generate at least one control command for controlling the semi-truck by solving the at least one QP problem, and provide the at least one control command to the one or more control mechanisms.

    Systems and methods for dynamic predictive control of autonomous vehicles
    4.
    发明授权
    Systems and methods for dynamic predictive control of autonomous vehicles 有权

    公开(公告)号：US11372403B2

    公开(公告)日：2022-06-28

    申请号：US16181110

    申请日：2018-11-05

    申请人： TuSimple, Inc.

    发明人： Aaron Havens ,  Jun Chen ,  Yujia Wu ,  Haoming Sun ,  Zijie Xuan ,  Arda Kurt

    IPC分类号： G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02 ,  B60W10/20 ,  B60W10/18 ,  B60W50/00

    摘要： Systems and methods for dynamic predictive control of autonomous vehicles are disclosed. In one aspect, an in-vehicle control system for a semi-truck includes one or more control mechanisms configured to control movement of the semi-truck and a processor. The system further includes computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive a desired trajectory and a vehicle status of the semi-truck, determine a dynamic model of the semi-truck based on the desired trajectory and the vehicle status, determine at least one quadratic program (QP) problem based on the dynamic model, generate at least one control command for controlling the semi-truck by solving the at least one QP problem, and provide the at least one control command to the one or more control mechanisms.

    LANE BIAS MANEUVER FOR AUTONOMOUS VEHICLES TO NEGOTIATE A CURVED ROAD
    8.
    发明申请
    LANE BIAS MANEUVER FOR AUTONOMOUS VEHICLES TO NEGOTIATE A CURVED ROAD 有权

    公开(公告)号：US20230136434A1

    公开(公告)日：2023-05-04

    申请号：US18048890

    申请日：2022-10-24

    申请人： TuSimple, Inc.

    发明人： Yufei Zhao ,  Tianqu Shao ,  Yujia Wu ,  Lei Wang ,  Haoming Sun

    IPC分类号： B60W30/18 ,  B60W40/072 ,  B60W40/04 ,  B60W60/00

    摘要： A system for implementing a lane bias maneuver to negotiate a curved road comprises an autonomous vehicle and a control device. The control device determines that the autonomous vehicle is approaching a curved road. The control device determines a road radius of the curved road. The control device calculates a first lane bias adjustment amount associated with a road curvature of the curved road based on the road radius. The control device calculates a second lane bias adjustment amount associated with a trailer angle between a trailer and a semi-truck tractor unit of the autonomous vehicle. The control device calculates a total lane bias adjustment amount by combining the first and second lane bias adjustment amounts. The control device instructs the autonomous vehicle to perform a lane bias maneuver that comprises driving the autonomous vehicle off-center in a curved lane based on the total lane bias adjustment amount.