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公开(公告)号：US11104334B2
公开(公告)日：2021-08-31
申请号：US15994138
申请日：2018-05-31
Applicant: TuSimple, Inc.
Inventor： Zhipeng Yan , Mingdong Wang , Siyuan Liu , Xiaodi Hou
Abstract: A system and method for proximate vehicle intention prediction for autonomous vehicles are disclosed. A particular embodiment is configured to: receive perception data associated with a host vehicle; extract features from the perception data to detect a proximate vehicle in the vicinity of the host vehicle; generate a trajectory of the detected proximate vehicle based on the perception data; use a trained intention prediction model to generate a predicted intention of the detected proximate vehicle based on the perception data and the trajectory of the detected proximate vehicle; use the predicted intention of the detected proximate vehicle to generate a predicted trajectory of the detected proximate vehicle; and output the predicted intention and predicted trajectory for the detected proximate vehicle to another subsystem.
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2.发明授权公开(公告)号：US10482769B2
公开(公告)日：2019-11-19
申请号：US15683494
申请日：2017-08-22
Applicant: TUSIMPLE
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
IPC: G08G1/16
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 include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: receiving a lane marking, expressed in god's view, associated with a current view; fitting, in a post-processing module, the lane marking in an arc by using a set of parameters; generating a lane template, using the set of parameters, the lane template including features of the lane marking associated with the current view and features of the arc; and feeding the lane template associated with the current view for detection of a next view.
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公开(公告)号：US12100190B2
公开(公告)日：2024-09-24
申请号：US18335785
申请日：2023-06-15
Applicant: TUSIMPLE, INC.
Inventor： Siyuan Liu , Lingting Ge , Chenzhe Qian , Zehua Huang , Xiaodi Hou
CPC classification number: G06V10/25 , B60W60/0025 , G06T7/11 , G06T7/70 , G06T11/20 , G06V10/82 , G06V20/58 , G06V20/584 , B60W2420/403 , B60W2554/00 , G06T2207/20132 , G06T2207/30236 , G06T2207/30252 , G06T2210/12
Abstract: Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.
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4.发明授权公开(公告)号：US11573095B2
公开(公告)日：2023-02-07
申请号：US17074468
申请日：2020-10-19
Applicant: TUSIMPLE, INC.
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.
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公开(公告)号：US11461922B2
公开(公告)日：2022-10-04
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 object 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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Patent Agency Ranking
6.发明授权公开(公告)号：US10552691B2
公开(公告)日：2020-02-04
申请号：US15496113
申请日：2017-04-25
Applicant: TuSimple
Inventor： Chenyang Li , Xiaodi Hou , Siyuan Liu
Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.
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公开(公告)号：US10373003B2
公开(公告)日：2019-08-06
申请号：US15683463
申请日：2017-08-22
Applicant: TUSIMPLE
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
IPC: G06K9/00 , G01S19/01 , B60W40/072 , G06T7/246
Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth; off-line training a lane detection algorithm by using the ground truth, the lane detection algorithm using parameters that express a lane marking in an arc; on-line generating a predicted lane marking; comparing the predicted lane marking against the ground truth; and off-line refining the lane detection algorithm.
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公开(公告)号：US11823460B2
公开(公告)日：2023-11-21
申请号：US16442182
申请日：2019-06-14
Applicant: TUSIMPLE, INC.
Inventor： Yijie Wang , Siyuan Liu , Lingting Ge , Zehua Huang
CPC classification number: G06V20/56 , B60R1/00 , G05D1/0246 , G06T7/30 , G06V10/803 , G06V10/811 , G06V20/584 , 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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公开(公告)号：US11373389B2
公开(公告)日：2022-06-28
申请号：US16909962
申请日：2020-06-23
Applicant: TUSIMPLE, INC.
Inventor： Lingting Ge , Siyuan Liu , Chenzhe Qian , Yijie Wang , Zehua Huang , Xiaodi Hou
Abstract: Image processing techniques are described to select and crop a region of interest from an image obtained from a camera located on or in a vehicle, such as an autonomous semi-trailer truck. The region of interest can be identified by selecting one or more reference points and determining one or more positions of the one or more reference points on the image obtained from the camera. As an example, a location of two reference points may be 500 meters and 1000 meters in front of a location of autonomous vehicle, where the front of the autonomous vehicle is an area towards which the autonomous vehicle is being driven.
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10.发明授权公开(公告)号：US10816354B2
公开(公告)日：2020-10-27
申请号：US15683441
申请日：2017-08-22
Applicant: TuSimple, Inc.
Inventor： Siyuan Liu , Mingdong Wang , Xiaodi Hou
Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.
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