公开(公告)号：US20240104382A1

公开(公告)日：2024-03-28

申请号：US18536677

申请日：2023-12-12

Applicant: TuSimple, Inc.

Inventor： Tian LI ,  Panqu WANG ,  Pengfei CHEN

IPC: G06N3/08 ,  G06F18/21 ,  G06F18/214 ,  G06F18/2413 ,  G06N3/045 ,  G06N20/00 ,  G06V10/44 ,  G06V10/764 ,  G06V20/56

CPC classification number: G06N3/08 ,  G06F18/214 ,  G06F18/2178 ,  G06F18/24143 ,  G06N3/045 ,  G06N20/00 ,  G06V10/454 ,  G06V10/764 ,  G06V20/588

Abstract: A system and method for instance-level roadway feature detection for autonomous vehicle control are disclosed. A particular embodiment includes: receiving image data from an image data collection system associated with an autonomous vehicle; extracting roadway features from the image data, causing a plurality of trained tasks to generate instance-level roadway feature detection results based on the image data, the plurality of trained tasks having been individually trained with different features of training image data received from a training image data collection system and corresponding ground truth data, the training image data and the ground truth data comprising data collected from real-world traffic scenarios; causing the plurality of trained tasks to generate task-specific predictions of feature characteristics based on the image data and to generate corresponding instance-level roadway feature detection results; and providing the instance-level roadway feature detection results to an autonomous vehicle subsystem of the autonomous vehicle to control operation of the autonomous vehicle based on the instance-level roadway feature detection results.

公开(公告)号：US20190370574A1

公开(公告)日：2019-12-05

申请号：US16542770

申请日：2019-08-16

Applicant: TuSimple

Inventor： Panqu WANG ,  Tian LI

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/46 ,  G06N3/04 ,  G06N3/08 ,  G05D1/00 ,  G05D1/02

Abstract: A system and method for taillight signal recognition using a convolutional neural network is disclosed. An example embodiment includes: receiving a plurality of image frames from one or more image-generating devices of an autonomous vehicle; using a single-frame taillight illumination status annotation dataset and a single-frame taillight mask dataset to recognize a taillight illumination status of a proximate vehicle identified in an image frame of the plurality of image frames, the single-frame taillight illumination status annotation dataset including one or more taillight illumination status conditions of a right or left vehicle taillight signal, the single-frame taillight mask dataset including annotations to isolate a taillight region of a vehicle; and using a multi-frame taillight illumination status dataset to recognize a taillight illumination status of the proximate vehicle in multiple image frames of the plurality of image frames, the multiple image frames being in temporal succession.

公开(公告)号：US20230385637A1

公开(公告)日：2023-11-30

申请号：US18233802

申请日：2023-08-14

Applicant: TuSimple, Inc.

Inventor： Panqu WANG ,  Tian LI

IPC: G06N3/08 ,  G05D1/00 ,  G05D1/02 ,  G06N3/04 ,  G06V20/58 ,  G06V10/82 ,  G06V10/44 ,  G06F18/214 ,  G06V10/764 ,  G06V20/56

CPC classification number: G06N3/08 ,  G05D1/0088 ,  G05D1/0246 ,  G06N3/04 ,  G06V20/584 ,  G06V10/82 ,  G06V10/454 ,  G06F18/214 ,  G06V10/764 ,  G06V20/56 ,  G05D2201/0213

Abstract: A system and method for taillight signal recognition using a convolutional neural network is disclosed. An example embodiment includes: receiving a plurality of image frames from one or more image-generating devices of an autonomous vehicle; using a single-frame taillight illumination status annotation dataset and a single-frame taillight mask dataset to recognize a taillight illumination status of a proximate vehicle identified in an image frame of the plurality of image frames, the single-frame taillight illumination status annotation dataset including one or more taillight illumination status conditions of a right or left vehicle taillight signal, the single-frame taillight mask dataset including annotations to isolate a taillight region of a vehicle; and using a multi-frame taillight illumination status dataset to recognize a taillight illumination status of the proximate vehicle in multiple image frames of the plurality of image frames, the multiple image frames being in temporal succession.

公开(公告)号：US20190102631A1

公开(公告)日：2019-04-04

申请号：US15959167

申请日：2018-04-20

Applicant: TuSimple

Inventor： Tian LI ,  Panqu WANG ,  Pengfei CHEN

IPC: G06K9/00 ,  G06K9/62 ,  G06F15/18

Abstract: A system and method for instance-level lane detection for autonomous vehicle control are disclosed. A particular embodiment includes: receiving training image data from a training image data collection system; obtaining ground truth data corresponding to the training image data; performing a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting roadway lane marking features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level; receiving image data from an image data collection system associated with an autonomous vehicle; and performing an operational phase including extracting roadway lane marking features from the image data, causing the plurality of trained tasks to generate instance-level lane detection results, and providing the instance-level lane detection results to an autonomous vehicle subsystem of the autonomous vehicle.

公开(公告)号：US20190065867A1

公开(公告)日：2019-02-28

申请号：US15684791

申请日：2017-08-23

Applicant: TuSimple

Inventor： Zehua HUANG ,  Panqu WANG ,  Pengfei CHEN ,  Tian LI

IPC: G06K9/00 ,  G05D1/02 ,  G08G1/16 ,  G06T7/10 ,  G06K9/78

Abstract: A system and method for using triplet loss for proposal free instance-wise semantic segmentation for lane detection are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on an autonomous vehicle; performing a semantic segmentation operation or other object detection on the received image data to identify and label objects in the image data with object category labels on a per-pixel basis and producing corresponding semantic segmentation prediction data; performing a triplet loss calculation operation using the semantic segmentation prediction data to identify different instances of objects with similar object category labels found in the image data; and determining an appropriate vehicle control action for the autonomous vehicle based on the different instances of objects identified in the image data.

公开(公告)号：US20220262135A1

公开(公告)日：2022-08-18

申请号：US17739289

申请日：2022-05-09

Applicant: TuSimple, Inc.

Inventor： Panqu WANG ,  Tian LI

IPC: G06V20/58 ,  G06K9/62 ,  G06N3/08 ,  G05D1/00 ,  G05D1/02 ,  G06N3/04 ,  G06V10/40

Abstract: A system and method for taillight signal recognition using a convolutional neural network is disclosed. An example embodiment includes: receiving a plurality of image frames from one or more image-generating devices of an autonomous vehicle; using a single-frame taillight illumination status annotation dataset and a single-frame taillight mask dataset to recognize a taillight illumination status of a proximate vehicle identified in an image frame of the plurality of image frames, the single-frame taillight illumination status annotation dataset including one or more taillight illumination status conditions of a right or left vehicle taillight signal, the single-frame taillight mask dataset including annotations to isolate a taillight region of a vehicle; and using a multi-frame taillight illumination status dataset to recognize a taillight illumination status of the proximate vehicle in multiple image frames of the plurality of image frames, the multiple image frames being in temporal succession.

公开(公告)号：US20210216792A1

公开(公告)日：2021-07-15

申请号：US17214828

申请日：2021-03-27

Applicant: TuSimple, Inc.

Inventor： Tian LI ,  Panqu WANG ,  Pengfei CHEN

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G06N20/00 ,  G06N3/04 ,  G06N3/08

Abstract: A system and method for instance-level lane detection for autonomous vehicle control are disclosed. A particular embodiment includes: receiving image data from an image data collection system associated with an autonomous vehicle; performing an operational phase comprising extracting roadway lane marking features from the image data, causing a plurality of trained tasks to execute concurrently to generate instance-level lane detection results based on the image data, the plurality of trained tasks having been individually trained with different features of training image data received from a training image data collection system and corresponding ground truth data, the training image data and the ground truth data comprising data collected from real-world traffic scenarios; causing the plurality of trained tasks to generate task-specific predictions of feature characteristics based on the image data and to generate corresponding instance-level lane detection results; and providing the instance-level lane detection results to an autonomous vehicle subsystem of the autonomous vehicle.

公开(公告)号：US20190101927A1

公开(公告)日：2019-04-04

申请号：US15721797

申请日：2017-09-30

Applicant: TuSimple

Inventor： Xiangchen ZHAO ,  Tian LI ,  Panqu WANG ,  Pengfei CHEN

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00

Abstract: A system and method for multitask processing for autonomous vehicle computation and control are disclosed. A particular embodiment includes: receiving training image data from a training image data collection system; obtaining ground truth data corresponding to the training image data; performing a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting common features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level; receiving image data from an image data collection system associated with an autonomous vehicle; and performing an operational phase including extracting common features from the image data, causing the plurality of trained tasks to concurrently generate task-specific predictions based on the image data, and output the task-specific predictions to an autonomous vehicle subsystem of the autonomous vehicle.