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公开(公告)号：US20250086802A1
公开(公告)日：2025-03-13
申请号：US18434501
申请日：2024-02-06
Applicant: TuSimple, Inc.
Inventor： Dongqiangzi YE , Zixiang ZHOU , Weijia CHEN , Yufei XIE , Yu WANG , Panqu WANG , Lingting GE
Abstract: A method of processing point cloud information includes converting points in a point cloud obtained from a lidar sensor into a voxel grid, generating, from the voxel grid, sparse voxel features by applying a multi-layer perceptron and one or more max pooling layers that reduce dimension of input data; applying a cascade of an encoder that performs a N-stage sparse-to-dense feature operation, a global context pooling (GCP) module, and an M-stage decoder that performs a dense-to-sparse feature generation operation. The GCP module bridges an output of a last stage of the N-stages with an input of a first stage of the M-stages, where N and M are positive integers. The GCP module comprises a multi-scale feature extractor; and performing one or more perception operations on an output of the M-stage decoder and/or an output of the GCP module.
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公开(公告)号：US20240265710A1
公开(公告)日：2024-08-08
申请号：US18475647
申请日：2023-09-27
Applicant: TuSimple, Inc.
Inventor： Zhe CHEN , Yizhe ZHAO , Lingting GE , Panqu WANG
CPC classification number: G06V20/58 , B60W60/001 , G06T7/248 , G06T7/74 , G06V10/776 , G06V10/87 , B60W2420/403 , B60W2552/15 , B60W2556/40 , B60W2720/10 , G06T2207/30252
Abstract: The present disclosure provides methods and systems for operating an autonomous vehicle. In some embodiments, the system may obtain, by a camera associated with an autonomous vehicle, an image of an environment of the autonomous vehicle, the environment including a road on which the autonomous vehicle is operating and an occlusion on the road. The system may identify the occlusion in the image based on map information of the environment and at least one camera parameter of the camera for obtaining the image. The system may identify an object represented in the image, and determine a confidence score relating to the object. The confidence score may indicate a likelihood a representation of the object in the image is impacted by the occlusion. The system may determine an operation algorithm based on the confidence score; and cause the autonomous vehicle to operate based on the operation algorithm.
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公开(公告)号：US20230184931A1
公开(公告)日：2023-06-15
申请号：US17987200
申请日：2022-11-15
Applicant: TuSimple, Inc.
Inventor： Panqu WANG , Lingting GE
IPC: G01S13/931 , G01S13/89 , G01S17/931 , G01S17/89 , G01S13/86
CPC classification number: G01S13/931 , G01S13/89 , G01S17/931 , G01S17/89 , G01S13/865
Abstract: Vehicles can include systems and apparatus for performing signal processing on sensor data from radar(s) and LiDAR(s) located on the vehicles. A method includes obtaining and filtering radar point cloud data of an area in an environment in which a vehicle is operating on a road to obtain filtered radar point cloud data; obtaining a light detection and ranging point cloud data of at least some of the area, where the light detection and ranging point cloud data include information about a bounding box that surrounds an object on the road; determining a set of radar point cloud data that are associated with the bounding box that surrounds the object; and causing the vehicle to operate based on one or more characteristics of the object determined from the set of radar point cloud data.
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公开(公告)号：US20190266420A1
公开(公告)日：2019-08-29
申请号：US15906561
申请日：2018-02-27
Applicant: TuSimple
Inventor： Lingting GE , Pengfei CHEN , Panqu WANG
Abstract: A system and method for online real-time multi-object tracking is disclosed. A particular embodiment can be configured to: receive image frame data from at least one camera associated with an autonomous vehicle; generate similarity data corresponding to a similarity between object data in a previous image frame compared with object detection results from a current image frame; use the similarity data to generate data association results corresponding to a best matching between the object data in the previous image frame and the object detection results from the current image frame; cause state transitions in finite state machines for each object according to the data association results; and provide as an output object tracking output data corresponding to the states of the finite state machines for each object.
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公开(公告)号：US20240046654A1
公开(公告)日：2024-02-08
申请号：US18489306
申请日：2023-10-18
Applicant: TUSIMPLE, INC.
Inventor： Yijie WANG , Siyuan LIU , Lingting GE , Zehua HUANG
CPC classification number: G06V20/56 , G06T7/30 , G05D1/0246 , G06V20/584 , G06V10/803 , G06V10/811 , B60R2300/303 , G05D2201/0213
Abstract: Devices, systems and methods for fusing scenes from real-time image feeds from on-vehicle cameras in autonomous vehicles to reduce redundancy of the information processed to enable real-time autonomous operation are described. One example of a method for improving perception in an autonomous vehicle includes receiving a plurality of cropped images, wherein each of the plurality of cropped images comprises one or more bounding boxes that correspond to one or more objects in a corresponding cropped image; identifying, based on the metadata in the plurality of cropped images, a first bounding box in a first cropped image and a second bounding box in a second cropped image, wherein the first and second bounding boxes correspond to a common object; and fusing the metadata corresponding to the common object from the first cropped image and the second cropped image to generate an output result for the common object.
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Patent Agency Ranking
公开(公告)号：US20230266759A1
公开(公告)日：2023-08-24
申请号：US18167993
申请日：2023-02-13
Applicant: TuSimple, Inc.
Inventor： Xiaoling HAN , Chenzhe QIAN , Chiyu ZHANG , Charles A. PRICE , Joshua Miguel RODRIGUEZ , Lei NIE , Lingting GE , Panqu WANG , Pengfei CHEN , Shuhan YANG , Xiangchen ZHAO , Xiaodi HOU , Zehua HUANG
IPC: G05D1/00
CPC classification number: G05D1/0088 , G05D2201/0213
Abstract: A system installed in a vehicle includes a first group of sensing devices configured to allow a first level of autonomous operation of the vehicle; a second group of sensing devices configured to allow a second level of autonomous operation of the vehicle, the second group of sensing devices including primary sensing devices and backup sensing devices; a third group of sensing devices configured to allow the vehicle to perform a safe stop maneuver; and a control element communicatively coupled to the first group of sensing devices, the second group of sensing devices, and the third group of sensing devices. The control element is configured to: receive data from at least one of the first group, the second group, or the third group of sensing devices, and provide a control signal to a sensing device based on categorization information indicating a group to which the sensing device belongs.
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公开(公告)号：US20210403050A1
公开(公告)日：2021-12-30
申请号：US17359007
申请日：2021-06-25
Applicant: TUSIMPLE, INC.
Inventor： Yiqian GAN , Yijie WANG , Xiaodi HOU , Lingting GE
Abstract: Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.
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公开(公告)号：US20210342602A1
公开(公告)日：2021-11-04
申请号：US17377206
申请日：2021-07-15
Applicant: TUSIMPLE, INC.
Inventor： Zhipeng YAN , Lingting GE , Pengfei CHEN , Panqu WANG
Abstract: A system and method for lateral vehicle detection is disclosed. A particular embodiment can be configured to: receive lateral image data from at least one laterally-facing camera associated with an autonomous vehicle; warp the lateral image data based on a line parallel to a side of the autonomous vehicle; perform object extraction on the warped lateral image data to identify extracted objects in the warped lateral image data; and apply bounding boxes around the extracted objects.
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公开(公告)号：US20210405185A1
公开(公告)日：2021-12-30
申请号：US17344534
申请日：2021-06-10
Applicant: TuSimple, Inc.
Inventor： Charles A. PRICE , Xiaoling HAN , Lingting GE , Zehua HUANG , Panqu WANG , Chiyu ZHANG , Joshua Miguel RODRIGUEZ , Junjun XIN
IPC: G01S13/931 , G05D1/02 , B60R11/02 , G01S13/86
Abstract: A system and method providing truck-mounted sensors to detect trailer following vehicles and trailer conditions are disclosed. A system of an example embodiment comprises: a vehicle control subsystem installed in an autonomous truck, the vehicle control subsystem comprising a data processor; and a truck-mounted sensor subsystem installed on a portion of a tractor of the autonomous truck to which a trailer is attachable, the truck-mounted sensor subsystem being coupled to the vehicle control subsystem via a data connection, wherein the truck-mounted sensor subsystem is configured to emit electromagnetic waves propagating in a space under the trailer, to generate object data representing objects detected by receiving a reflection of the electromagnetic waves, and to transfer the object data to the vehicle control subsystem.
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公开(公告)号：US20210398310A1
公开(公告)日：2021-12-23
申请号：US16909987
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting GE , Siyuan LIU , Zehua HUANG , Yijie WANG
Abstract: Image processing techniques are described to receive bounding box information that describes a bounding box located around a detected obj ect in an image, determine one or more positions of one or more reference points on the bounding box, determine, for each reference point, 3D world coordinates of a point of intersection of the reference point and the road surface, and assign the 3D world coordinates of the one or more reference points to a location of the detected object.
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