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公开(公告)号：US20240383498A1
公开(公告)日：2024-11-21
申请号：US18662833
申请日：2024-05-13
Applicant: TuSimple, Inc.
Inventor： Junbo JING , Chunan HUANG
IPC: B60W60/00 , B60W30/182 , B60W50/00 , B60W50/02
Abstract: An example method of controlling a vehicle using a multi-node computational architecture includes receiving, by a first computational node, waypoints and vehicle states, and generating a first control command set for motion of the vehicle in a lateral direction with a first complexity and a second control command set for motion in a longitudinal direction with a second complexity that is less than the first complexity. A second computational node, operating in parallel with the first computational node, is used to generate a third control command set for motion in the longitudinal direction with the first complexity. The method further includes selecting, by a control arbitrator and based on the vehicle states and health status indications of the first and second computational nodes, either the second control command set or the third control command set, and outputting the selected control command set, which is used to control the vehicle.
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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
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.
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公开(公告)号：US20240101121A1
公开(公告)日：2024-03-28
申请号：US18464978
申请日：2023-09-11
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Patrik KOLARIC , Chunan HUANG , Stephen W. HORTON , Arda KURT
IPC: B60W30/182 , B60W10/04 , B60W10/18 , B60W30/14 , B60W60/00
CPC classification number: B60W30/182 , B60W10/04 , B60W10/18 , B60W30/14 , B60W60/0015 , B60W2540/12
Abstract: Techniques are described for performing vehicle operation that comprises determining, by a computer located in a vehicle and for each of a first driving mode and a second driving mode, a set of values of a predicted trajectory along which the vehicle is predicted to operate in a driving mode; performing a first determination that the vehicle is not operable in the first driving mode; performing a second determination that the vehicle is operable in the second driving mode; and causing, in response to the second determination, the vehicle to operate in the second driving mode by sending one or more driving related commands to one or more apparatus in the vehicle.
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公开(公告)号：US20240017702A1
公开(公告)日：2024-01-18
申请号：US18341560
申请日：2023-06-26
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Jingxuan LIU , Haimo BI , Arda KURT
IPC: B60T8/172
CPC classification number: B60T8/172 , B60T2270/88
Abstract: Devices, systems, and methods for predictive anti-lag braking control for autonomous vehicles are described. An example method of controlling a vehicle includes receiving, from a controller, a first plurality of values indicative of a brake wheel torque demand associated with a deceleration profile of the vehicle, deriving, based on the first plurality of values and a steady-state brake model, a second plurality of values indicative of a brake pressure demand, wherein an input to the steady-state brake model comprises the brake pressure demand and at least one previous brake wheel torque demand, and wherein an output of the steady-state brake system comprises a current brake wheel torque demand, generating, based on the second plurality of values and at least the steady-state model, a plurality of brake control commands, and controlling, using the plurality of brake control commands, the air brake system.
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公开(公告)号：US20230339473A1
公开(公告)日：2023-10-26
申请号：US18343837
申请日：2023-06-29
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Dinghua LI , Arda KURT , Chasen SHERMAN
CPC classification number: B60W30/19 , B60W60/001 , G01C21/3469 , G05D1/0212 , G05D1/0231 , B60W2510/18 , B60W2510/104 , B60W2510/105
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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Patent Agency Ranking
公开(公告)号：US20230244237A1
公开(公告)日：2023-08-03
申请号：US18186137
申请日：2023-03-17
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Arda Kurt , Tianqu Shao , Chasen Sherman , Xing Sun
CPC classification number: G05D1/0212 , B62D15/021 , B62D15/025 , G05D1/0274 , G05D1/0276 , G05D2201/0213 , G05D2201/0212
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.
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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
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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公开(公告)号：US20240101114A1
公开(公告)日：2024-03-28
申请号：US18464936
申请日：2023-09-11
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Patrik KOLARIC , Chunan HUANG , Stephen W. HORTON , Arda KURT
IPC: B60W30/16 , B60W30/182 , B60W60/00
CPC classification number: B60W30/16 , B60W30/182 , B60W60/0059 , B60W2552/00 , B60W2554/80
Abstract: Techniques are described for performing vehicle operation that comprises determining, by a computer located in a vehicle, a set of values of a predicted trajectory along which the vehicle is predicted to operate in a driving mode; performing a first determination that the vehicle is operable in the driving mode in response to determining that the set of values of the driving mode is within maximum and minimum values associated with another set of values of a trajectory along which the vehicle is expected to be operated; and causing, in response to the first determination, the vehicle to operate in the driving mode by sending one or more driving related instructions to a device in the vehicle to cause the device to perform cruise control related operations.
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公开(公告)号：US20230174113A1
公开(公告)日：2023-06-08
申请号：US17986816
申请日：2022-11-14
Applicant: TuSimple, Inc.
Inventor： Haimo BI , Xiaoling HAN , Junbo JING , Arda KURT
IPC: B60W60/00 , B60W40/105 , B60W50/04 , B60W50/14
CPC classification number: B60W60/0053 , B60W40/105 , B60W50/14 , B60W50/045 , B60W2050/0083
Abstract: The disclosed technology enables an in-vehicle control computer located in an autonomous vehicle to control torque applied by an engine in the autonomous vehicle. An example method of autonomous driving operation includes sending, by a computer located on the vehicle, instructions to one or more devices located on the vehicle that cause the vehicle to perform autonomous driving related operations in accordance with the instructions, where the sending the instructions includes sending a set of torque related values over time to control an engine located in the vehicle, where the set of torque related values are not converted to control parameters indicative of positions associated with an accelerator pedal located in the vehicle; receiving an indication that indicates that the accelerator pedal is depressed from an undepressed position; and causing, in response to the receiving the indication, the vehicle to not perform additional autonomous driving related operations.
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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
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.
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