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公开(公告)号：US12164297B2
公开(公告)日：2024-12-10
申请号：US18469466
申请日：2023-09-18
Applicant: TuSimple, Inc.
Inventor： Aaron Havens , Jun Chen , Yujia Wu , Haoming Sun , Zijie Xuan , Arda Kurt
Abstract: 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.
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公开(公告)号：US20240391398A1
公开(公告)日：2024-11-28
申请号：US18792955
申请日：2024-08-02
Applicant: TuSimple, Inc.
Inventor： Qiwei LI , Todd SKINNER , Yishi LIU
Abstract: An integrated housing assembly mountable on a roof of a vehicle, such as a semi-trailer truck. The integrated housing assembly includes a main enclosure that includes four sides, a top panel, and a bottom panel. One of the four sides is a front panel that is inclined towards the ground. The main enclosure includes one or more cavities. A front panel of the integrated housing assembly includes one or more openings to allow cameras or sensors to be placed within the one or more cavities and behind the one or more opening. The cameras or sensors cameras can be clamped at a downward angle within multiple lock apparatus. The angled front panel and the inclined cameras or sensors within the lock apparatus allow the cameras or sensors to obtain images or sensor data from one or more regions of interest at some distance from the front of the vehicle.
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公开(公告)号：US12139165B2
公开(公告)日：2024-11-12
申请号：US17243900
申请日：2021-04-29
Applicant: TuSimple, Inc.
Inventor： Changyi Zhao , Joyce Tam , Bin Huang
Abstract: A system comprises an autonomous vehicle (AV) and a control device operably coupled with the AV. The control device receives, from an operation server, a command to navigate the AV to avoid an expected road condition. The control device receives, from sensors of the AV, sensor data comprising location coordinates of a plurality of objects ahead of the AV. The control device determines whether at least one object from the plurality of objects impedes performing the command. In response to determining that at least one object impedes performing the command, the control device updates the command, such that the updated command comprises one or more navigation instructions to avoid the at least one object while performing the command. The control device navigates the AV according to the updated command.
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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
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.
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公开(公告)号：US20240353839A1
公开(公告)日：2024-10-24
申请号：US18662273
申请日：2024-05-13
Applicant: TuSimple, Inc.
Abstract: A system and method for implementing a neural network based vehicle dynamics model are disclosed. A particular embodiment includes: training a machine learning system with a training dataset corresponding to a desired autonomous vehicle simulation environment; receiving vehicle control command data and vehicle status data, the vehicle control command data not including vehicle component types or characteristics of a specific vehicle; by use of the trained machine learning system, the vehicle control command data, and vehicle status data, generating simulated vehicle dynamics data including predicted vehicle acceleration data; providing the simulated vehicle dynamics data to an autonomous vehicle simulation system implementing the autonomous vehicle simulation environment; and using data produced by the autonomous vehicle simulation system to modify the vehicle status data for a subsequent iteration.
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Patent Agency Ranking
公开(公告)号：US20240349442A1
公开(公告)日：2024-10-17
申请号：US18617741
申请日：2024-03-27
Applicant: TuSimple, Inc.
Inventor： Stephen W. Horton , Shimeng Wang , Brian C. Zelle , Holden James Yildirim , Jami Frances Tullius , Thomas Holladay Lind , Patrick James McNamara , Sridhar Kumar
CPC classification number: H05K7/1492 , H05K7/1495 , H05K7/20272 , H05K7/20872
Abstract: A modular enclosure is configured to house a set of components that facilitate the autonomous functions of an autonomous vehicle while meeting a set of requirements. The set of components comprises a sensor processing unit configured to detect objects from sensors associated with the autonomous vehicle, a compute unit configured to determine a navigation path for the autonomous vehicle, a vehicle control unit configured to control the autonomous function of the autonomous vehicle, a communication gateway configured to establish communication of the autonomous vehicle, and a data diagnostics unit configured to determine a health data for at least one component of the autonomous vehicle. The set of requirements comprises a space requirement, a communication requirement, a cooling requirement, and a shock absorption requirement.
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公开(公告)号：US12113885B2
公开(公告)日：2024-10-08
申请号：US17186476
申请日：2021-02-26
Applicant: TUSIMPLE, INC. , BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Inventor： Xiaoling Han , Junjun Xin , Lei Nie , Yue Pan , Yu Zhang , Jade E. Day , Zehua Huang , Esayas Naizghi , Pingyuan Ji , Zhiqi Gong
CPC classification number: H04L7/0016 , G01C21/16 , G01C21/28 , G01S17/931 , G01S19/01 , H04L67/12
Abstract: Devices, systems, and methods for hardware-based time synchronization for heterogenous sensors are described. An example method includes generating a plurality of input trigger pulses having a nominal pulse-per-second (PPS) rate, generating, based on timing information derived from the plurality of input trigger pulses, a plurality of output trigger pulses, and transmitting the plurality of output trigger pulses to a sensor of a plurality of sensors, wherein a frequency of the plurality of output trigger pulses corresponds to a target operating frequency of the sensor, wherein, in a case that a navigation system coupled to the synchronization unit is functioning correctly, the plurality of input trigger pulses is generated based on a nominal PPS signal from the navigation unit, and wherein, in a case that the navigation system is not functioning correctly, the plurality of input trigger pulses is generated based on a simulated clock source of the synchronization unit.
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公开(公告)号：US20240320987A1
公开(公告)日：2024-09-26
申请号：US18598384
申请日：2024-03-07
Applicant: TuSimple, Inc.
Inventor： Haiping WU , Long SHA , Hongyuan DU , Zilong GUO , Yihe TANG , Tingyu MAO , Pengfei CHEN , Panqu WANG , Rundong GE
CPC classification number: G06V20/584 , G06T7/12 , G06T7/13 , G06T7/50 , G06T7/70 , G06V10/25 , G06T2207/30196 , G06V2201/07
Abstract: Techniques are described for performing an image processing technique on frames of a camera located on or in a vehicle. An example technique includes receiving, by a computer located in a vehicle, a first image frame from a camera located on or in the vehicle; obtaining a first combined set of information by combining a first set of information about an object detected from the first image frame and a second set of information about a set of objects detected from a second image frame, where the set of objects includes the object; obtaining, by using the first combined set of information, a second combined set of information about the object from the first image frame and from the second image frame; and causing the vehicle to perform a driving related operation in response to determining a characteristic of the object using the second combined set of information.
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公开(公告)号：US20240317187A1
公开(公告)日：2024-09-26
申请号：US18444121
申请日：2024-02-16
Applicant: TuSimple, Inc.
Inventor： Qiwei LI , Christopher Luis HERNANDEZ
Abstract: Provided herein is a system and method for a sensor housing that mitigates glare within the field-of-view and facilitates cleaning of a sensor lens. A sensor assembly may include: a sensor having a sensor lens and a field-of-view through the sensor lens; and a baffle defining a sensor lens aperture, where the field-of-view through the sensor lens is through the sensor lens aperture, where the baffle includes a series of concentric rings extending away from the sensor lens aperture and increasing in diameter as a distance from the sensor lens aperture increases. According to some embodiments, the series of concentric rings defines a viewing angle, where the viewing angle corresponds to the field-of-view of the sensor lens.
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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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