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.

公开(公告)号：US20240346815A1

公开(公告)日：2024-10-17

申请号：US18638289

申请日：2024-04-17

申请人： TuSimple, Inc.

发明人： Panqu WANG ,  Pengfei CHEN

IPC分类号： G06V10/82 ,  G06F18/2413 ,  G06T7/194 ,  G06V10/20 ,  G06V10/44 ,  G06V10/764 ,  G06V20/56 ,  G06V20/58

CPC分类号： G06V10/82 ,  G06F18/24133 ,  G06T7/194 ,  G06V10/255 ,  G06V10/454 ,  G06V10/764 ,  G06V20/56 ,  G06V20/58 ,  G06T2207/20081 ,  G06T2207/30252

摘要： A system and method for vehicle wheel detection is disclosed. A particular embodiment can be configured to: receive training image data from a training image data collection system; obtain ground truth data corresponding to the training image data; perform a training phase to train one or more classifiers for processing images of the training image data to detect vehicle wheel objects in the images of the training image data; receive operational image data from an image data collection system associated with an autonomous vehicle; and perform an operational phase including applying the trained one or more classifiers to extract vehicle wheel objects from the operational image data and produce vehicle wheel object data.

公开(公告)号：US20240345584A1

公开(公告)日：2024-10-17

申请号：US18753416

申请日：2024-06-25

申请人： TuSimple, Inc.

发明人： Bolun Zhang ,  Nan Yu

IPC分类号： G05D1/00 ,  G05D1/247 ,  G05D1/648 ,  G06V20/56 ,  G06V20/58 ,  H04W4/46

CPC分类号： G05D1/028 ,  G05D1/247 ,  G05D1/648 ,  G06V20/582 ,  G06V20/588 ,  H04W4/46

摘要： Systems and methods for updating navigational maps based using at least one sensor are provided. In one aspect, a control system for an autonomous vehicle, includes a processor and a computer-readable memory configured to cause the processor to: receive output from at least one sensor located on the autonomous vehicle indicative of a driving environment of the autonomous vehicle, retrieve a navigational map used for driving the autonomous vehicle, and detect one or more inconsistencies between the output of the at least one sensor and the navigational map. The computer-readable memory is further configured to cause the processor to: in response to detecting the one or more inconsistencies, trigger mapping of the driving environment based on the output of the at least one sensor, update the navigational map based on the mapped driving environment, and drive the autonomous vehicle using the updated navigational map.

公开(公告)号：US20240320988A1

公开(公告)日：2024-09-26

申请号：US18599015

申请日：2024-03-07

申请人： TuSimple, Inc.

发明人： Long SHA ,  Lezhou FENG ,  Pengfei CHEN ,  Panqu WANG

IPC分类号： G06V20/58 ,  G06T7/90 ,  G06V10/25 ,  G06V10/44 ,  G06V10/60 ,  G06V10/80

CPC分类号： G06V20/584 ,  G06T7/90 ,  G06V10/25 ,  G06V10/44 ,  G06V10/60 ,  G06V10/806 ,  G06T2207/20132 ,  G06V2201/07

摘要： Techniques are described for performing image processing on images of cameras located on or in a vehicle. An example technique includes receiving a first set of images obtained by a first camera and a second set of images obtained by a second camera; determining, for each image in the first set, a first set of features of a first object; determining, for each image in the second set, a second set of features of a second object; obtaining a third set of features of an object by combining the first set of features and the second set of features; obtaining a fourth set of features of the object by including one or more features of a light signal of the object; determining characteristic(s) indicated by the light signal; and causing a vehicle to perform a driving related operation based on the characteristic(s) of the object.

公开(公告)号：US20240319000A1

公开(公告)日：2024-09-26

申请号：US18678226

申请日：2024-05-30

申请人： TUSIMPLE, INC.

发明人： Kun ZHANG ,  Xiaoling HAN ,  Zehua HUANG ,  Charles A. PRICE

IPC分类号： G01G19/08 ,  B60C23/04 ,  B60W40/13

CPC分类号： G01G19/086 ,  B60W40/13 ,  B60C23/0416 ,  B60G2400/61 ,  B60W2040/1307

摘要： Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes determining a vehicle weight distribution that values for each axle of the vehicle that describe weight or pressure applied on a respective axle. The values of the vehicle weight distribution are determined by removing at least one value that is outside a range of pre-determined values from a set of sensor values. The method further includes determining a driving-related operation of the vehicle weight distribution. For example, the driving-related operation may include determining a braking amount for each axle and/or determining a maximum steering angle to operate the vehicle. The method further includes controlling one or more subsystems in the vehicle via an instruction related to the driving-related operation. For example, transmitting the instruction to the one or more subsystems causes the vehicle to perform the driving-related operation.

公开(公告)号：US20240317262A1

公开(公告)日：2024-09-26

申请号：US18438191

申请日：2024-02-09

申请人： TuSimple, Inc.

发明人： Joyce TAM ,  Janet Karen HWU ,  Shaheryar AJMAL

IPC分类号： B60W60/00

CPC分类号： B60W60/0015 ,  B60W60/0025

摘要： A method, apparatus and computer program product are configured to generate, based on a user profile, one or more dynamic inspection task checklists for a respective autonomous vehicle (AV) of one or more AVs in an AV fleet based on a first enterprise-defined task protocol. The one or more dynamic inspection task checklists are associated with one or more respective AV subsystems, and the user profile is associated with a respective user role such that the one or more dynamic inspection task checklists differ dependent upon the respective user role. The method, apparatus and computer program product are also configured to cause the one or more dynamic inspection task checklists to be rendered via an interactive inspection interface of a user computing device associated with the user profile such that one or more respective inspection tasks comprised in the one or more dynamic inspection task checklists are interactive.

公开(公告)号：US20240288868A1

公开(公告)日：2024-08-29

申请号：US18507038

申请日：2023-11-11

申请人： TUSIMPLE, INC.

发明人： Xing SUN ,  Wutu LIN ,  Liu LIU ,  Kai-Chieh MA ,  Zijie XUAN ,  Yufei ZHAO

IPC分类号： G05D1/00 ,  B62D15/02

CPC分类号： G05D1/0221 ,  B62D15/0255 ,  B62D15/026 ,  B62D15/0265

摘要： A data-driven prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment includes: generating a first suggested trajectory for an autonomous vehicle; generating predicted resulting trajectories of proximate agents using a prediction module; scoring the first suggested trajectory based on the predicted resulting trajectories of the proximate agents; generating a second suggested trajectory for the autonomous vehicle and generating corresponding predicted resulting trajectories of proximate agents, if the score of the first suggested trajectory is below a minimum acceptable threshold; and outputting a suggested trajectory for the autonomous vehicle wherein the score corresponding to the suggested trajectory is at or above the minimum acceptable threshold.

公开(公告)号：US20240286674A1

公开(公告)日：2024-08-29

申请号：US18444133

申请日：2024-02-16

申请人： TuSimple, Inc.

发明人： Todd B. SKINNER

IPC分类号： B62D7/22

CPC分类号： B62D7/224

摘要： Provided herein is a system and method for damping the steering of a vehicle. Methods of an example include: steering a pair of steerable wheels of the vehicle with a steering mechanism about an axis substantially perpendicular to an axis of rotation of a respective one of the pair of steerable wheels; damping the steering mechanism at a first damping rate in response to a steering change rate of the pair of steerable wheels being below a predetermined rate; and damping the steering mechanism at a second damping rate in response to the steering change rate of the pair of steerable wheels being above the predetermined rate

公开(公告)号：US20240286546A1

公开(公告)日：2024-08-29

申请号：US18441868

申请日：2024-02-14

申请人： TuSimple, Inc.

发明人： Timothy Arthur JONES

IPC分类号： B60Q1/50

CPC分类号： B60Q1/535 ,  B60Q1/507 ,  B60Q2400/20

摘要： A method of operating an autonomous vehicle, comprising activating, by a processor on the autonomous vehicle, a first set of lights in response to determining that the autonomous vehicle has come to a stop due to a critical situation, wherein the first set of lights have an illumination intensity brighter than a second set of lights used in a non-critical situation, wherein the first set of lights form a pattern indicative of a size of the autonomous vehicle wherein the first set of lights are disposed on a base that is detachable from the autonomous vehicle.

公开(公告)号：US12065079B2

公开(公告)日：2024-08-20

申请号：US18297821

申请日：2023-04-10

申请人： TUSIMPLE, INC.

发明人： Juexiao Ning ,  Todd Skinner ,  Jeffrey Renn

IPC分类号： B60R1/12 ,  B60R11/00 ,  G01S7/481 ,  G01S17/931

CPC分类号： B60R1/12 ,  B60R11/00 ,  G01S7/4813 ,  G01S17/931 ,  B60R2001/1223 ,  B60R2011/004 ,  B60R2011/008

摘要： Disclosed are devices, systems, and methods for a LiDAR mirror assembly mounted on a vehicle, such as an autonomous or semi-autonomous vehicle. For example, a LiDAR mirror assembly may include a base plate mounted on a hood of a vehicle, where the base plate is coupled to one end of a support arm. The opposite end of the support arm is attached to a housing. The housing includes a top housing enclosure coupled to a bottom housing platform, where a sensor and a mirror is coupled to the housing, and where the sensor is at least partially exposed through an opening in the top housing enclosure. The opening for the sensor is situated near an end of the housing furthest away from the base plate.