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    SYSTEMS AND METHODS FOR DYNAMIC PREDICTIVE CONTROL OF AUTONOMOUS VEHICLES
    2.
    发明申请
    SYSTEMS AND METHODS FOR DYNAMIC PREDICTIVE CONTROL OF AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220291687A1

    公开(公告)日：2022-09-15

    申请号：US17805219

    申请日：2022-06-02

    申请人： TuSimple, Inc.

    发明人： Aaron Havens ,  Jun Chen ,  Yujia Wu ,  Haoming Sun ,  Zijie Xuan ,  Arda Kurt

    IPC分类号： G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02

    摘要： Systems and methods for dynamic predictive control of autonomous vehicles are disclosed. In one aspect, an in-vehicle control system for a semi-truck includes one or more control mechanisms configured to control movement of the semi-truck and a processor. The system further includes computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive a desired trajectory and a vehicle status of the semi-truck, determine a dynamic model of the semi-truck based on the desired trajectory and the vehicle status, determine at least one quadratic program (QP) problem based on the dynamic model, generate at least one control command for controlling the semi-truck by solving the at least one QP problem, and provide the at least one control command to the one or more control mechanisms.

    Systems and methods for dynamic predictive control of autonomous vehicles
    3.
    发明授权
    Systems and methods for dynamic predictive control of autonomous vehicles 有权

    公开(公告)号：US11372403B2

    公开(公告)日：2022-06-28

    申请号：US16181110

    申请日：2018-11-05

    申请人： TuSimple, Inc.

    发明人： Aaron Havens ,  Jun Chen ,  Yujia Wu ,  Haoming Sun ,  Zijie Xuan ,  Arda Kurt

    IPC分类号： G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02 ,  B60W10/20 ,  B60W10/18 ,  B60W50/00

    摘要： Systems and methods for dynamic predictive control of autonomous vehicles are disclosed. In one aspect, an in-vehicle control system for a semi-truck includes one or more control mechanisms configured to control movement of the semi-truck and a processor. The system further includes computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive a desired trajectory and a vehicle status of the semi-truck, determine a dynamic model of the semi-truck based on the desired trajectory and the vehicle status, determine at least one quadratic program (QP) problem based on the dynamic model, generate at least one control command for controlling the semi-truck by solving the at least one QP problem, and provide the at least one control command to the one or more control mechanisms.

    Two-level path planning for autonomous vehicles
    5.
    发明授权
    Two-level path planning for autonomous vehicles 有权

    公开(公告)号：US12122419B2

    公开(公告)日：2024-10-22

    申请号：US16912444

    申请日：2020-06-25

    申请人： TUSIMPLE, INC.

    发明人： Junbo Jing ,  Arda Kurt ,  Yujia Wu ,  Tianqu Shao ,  Xing Sun ,  Zijie Xuan ,  Haoming Sun ,  Chasen Sherman

    IPC分类号： B60W60/00 ,  G05D1/00 ,  H04W4/40

    CPC分类号： B60W60/0011 ,  G05D1/0022 ,  G05D1/0274 ,  H04W4/40

    摘要： 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.

    Techniques to detect theft of goods in vehicles
    6.
    发明授权
    Techniques to detect theft of goods in vehicles 有权

    公开(公告)号：US11904807B2

    公开(公告)日：2024-02-20

    申请号：US17016145

    申请日：2020-09-09

    申请人： TUSIMPLE, INC.

    发明人： Charles Seunghwan Han ,  Arda Kurt ,  Xiaoling Han

    IPC分类号： B60R25/10 ,  G01F22/00 ,  G01G19/08 ,  G01L5/00 ,  B60R25/34 ,  G01P15/08

    CPC分类号： B60R25/1004 ,  B60R25/34 ,  G01F22/00 ,  G01G19/08 ,  G01L5/00 ,  G01P15/08

    摘要： Techniques are described for determining an occurrence of theft in a vehicle. An example processor implemented method comprises receiving, by a computer located in an autonomous vehicle and at a first time, a first torque value that indicates a first amount of torque applied by an engine of the autonomous vehicle to drive the autonomous vehicle, receiving, at a second time that is later in time than the first time, a second torque value that indicates a second amount of torque applied by the engine of the autonomous vehicle, determining that a difference between a first value and a second value is greater than a pre-determined value, where the first value and the second value are functions of at least the first torque value and at least the second value respectively, and displaying, in response to the determining, a message that indicates a theft detection in the autonomous vehicle.

    OPTIMAL PATH LIBRARY FOR LOCAL PATH PLANNING OF AN AUTONOMOUS VEHICLE
    7.
    发明公开
    OPTIMAL PATH LIBRARY FOR LOCAL PATH PLANNING OF AN AUTONOMOUS VEHICLE 审中-公开

    公开(公告)号：US20230244237A1

    公开(公告)日：2023-08-03

    申请号：US18186137

    申请日：2023-03-17

    申请人： TUSIMPLE, INC.

    发明人： Junbo JING ,  Arda Kurt ,  Tianqu Shao ,  Chasen Sherman ,  Xing Sun

    IPC分类号： G05D1/02 ,  B62D15/02

    CPC分类号： G05D1/0212 ,  B62D15/021 ,  B62D15/025 ,  G05D1/0274 ,  G05D1/0276 ,  G05D2201/0213 ,  G05D2201/0212

    摘要： 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.

    Data-driven control for autonomous driving
    10.
    发明授权
    Data-driven control for autonomous driving 有权

    公开(公告)号：US11809193B2

    公开(公告)日：2023-11-07

    申请号：US16934989

    申请日：2020-07-21

    申请人： TUSIMPLE, INC.

    发明人： Yujia Wu ,  Zijie Xuan ,  Arda Kurt

    IPC分类号： G05D1/02

    CPC分类号： G05D1/0221 ,  G05D1/0219 ,  G05D1/0246

    摘要： Techniques are described to determine parameters and/or values for a control model that can be used to operate an autonomous vehicle, such as an autonomous semi-trailer truck. For example, a method of obtaining a data-driven model for autonomous driving may include obtaining data associated with a first set of variables that characterize movements of an autonomous vehicle over time and commands provided to the autonomous vehicle over time, determining, using at least the first set of data, non-zero values and an associated second set of variables that describe a control model used to perform an autonomous driving operation of the autonomous vehicle, and calculating values for a feedback controller that describes a transfer function used to perform the autonomous driving operation of the autonomous vehicle driven on a road.