公开(公告)号：US12179800B2

公开(公告)日：2024-12-31

申请号：US18331705

申请日：2023-06-08

Applicant: TUSIMPLE, INC.

Inventor： Charles A. Price ,  Zehua Huang ,  Xiaoling Han ,  Ruiliang Zhang ,  Xiaodi Hou

IPC: B60W60/00 ,  B60W30/095 ,  G01C21/00 ,  G08G1/14 ,  G08G1/16

Abstract: Disclosed are distributed computing systems and methods for controlling multiple autonomous control modules and subsystems in an autonomous vehicle. In some aspects of the disclosed technology, a computing architecture for an autonomous vehicle includes distributing the complexity of autonomous vehicle operation, thereby avoiding the use of a single high-performance computing system and enabling off-the-shelf components to be use more readily and reducing system failure rates.

公开(公告)号：US12131499B2

公开(公告)日：2024-10-29

申请号：US18339940

申请日：2023-06-22

Applicant: TUSIMPLE, INC.

Inventor： Yijie Wang ,  Lingting Ge ,  Yiqian Gan ,  Xiaodi Hou

IPC: G06T7/73 ,  G06T7/33

CPC classification number: G06T7/74 ,  G06T7/337 ,  G06T2207/30184 ,  G06T2207/30252

Abstract: Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.

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

IPC: G06K9/00 ,  B60W60/00 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/25 ,  G06V10/82 ,  G06V20/58

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.

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

IPC: G01C21/36 ,  G06V20/56 ,  G01S17/89 ,  G01S17/86

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.

公开(公告)号：US20210078600A1

公开(公告)日：2021-03-18

申请号：US17019135

申请日：2020-09-11

Applicant: TUSIMPLE, INC.

Inventor： Charles A. Price ,  Zehua Huang ,  Xiaoling Han ,  Ruiliang Zhang ,  Xiaodi Hou

IPC: B60W60/00 ,  B60W30/095 ,  G08G1/14 ,  G08G1/16 ,  G01C21/00

Abstract: Disclosed are distributed computing systems and methods for controlling multiple autonomous control modules and subsystems in an autonomous vehicle. In some aspects of the disclosed technology, a computing architecture for an autonomous vehicle includes distributing the complexity of autonomous vehicle operation, thereby avoiding the use of a single high-performance computing system and enabling off-the-shelf components to be use more readily and reducing system failure rates.

公开(公告)号：US10710592B2

公开(公告)日：2020-07-14

申请号：US15481877

申请日：2017-04-07

Applicant: TuSimple, Inc.

Inventor： Wutu Lin ,  Xiaodi Hou

IPC: B60W40/04 ,  G01S13/931 ,  G01C21/20 ,  G05D1/02 ,  G05D1/00 ,  G01S17/931 ,  G01S13/86

Abstract: A system and method for path planning of autonomous vehicles based on gradient are disclosed. A particular embodiment includes: generating and scoring a first suggested trajectory for an autonomous vehicle; generating a trajectory gradient based on the first suggested trajectory; generating and scoring a second suggested trajectory for the autonomous vehicle, the second suggested trajectory being based on the first suggested trajectory and a human driving model; and outputting the second suggested trajectory if the score corresponding to the second suggested trajectory is within a score differential threshold relative to the score corresponding to the first suggested trajectory.

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

IPC: G06K9/00 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/02 ,  G01S17/88 ,  G08G1/16

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.

公开(公告)号：US10528823B2

公开(公告)日：2020-01-07

申请号：US15822597

申请日：2017-11-27

Applicant: TuSimple

Inventor： Dazhou Guo ,  Yujie Wei ,  Xue Mei ,  Xiaodi Hou

IPC: G06K9/00 ,  G06T7/10 ,  G06K9/62 ,  G05D1/02 ,  G08G1/16 ,  G06K9/20

Abstract: A system and method for large-scale lane marking detection using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data; and generating a lane marking map from the set of lane marking points.

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.

公开(公告)号：US12175637B2

公开(公告)日：2024-12-24

申请号：US18344577

申请日：2023-06-29

Applicant: TUSIMPLE, INC. ,  BEIJING TUSEN WEILAI TECHNOLOGY CO., LTD.

Inventor： Pengfei Chen ,  Nan Yu ,  Naiyan Wang ,  Xiaodi Hou

IPC: G06T5/70 ,  B60W40/02 ,  G06T5/75 ,  G06T5/92 ,  H04N25/13

Abstract: Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.