公开(公告)号：US12164296B2

公开(公告)日：2024-12-10

申请号：US18364587

申请日：2023-08-03

Applicant: TUSIMPLE, INC.

Inventor： Liu Liu ,  Yuwei Wang ,  Xing Sun ,  Yufei Zhao ,  Wutu Lin

IPC: G05D1/00 ,  G06F30/15 ,  G06F30/20 ,  G06F111/10

Abstract: An autonomous vehicle simulation system for analyzing motion planners is disclosed. A particular embodiment includes: receiving map data corresponding to a real world driving environment; obtaining perception data and configuration data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration data; receiving vehicle control messages from an autonomous vehicle control system; and simulating the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

公开(公告)号：US11958473B2

公开(公告)日：2024-04-16

申请号：US17350297

申请日：2021-06-17

Applicant: TuSimple, Inc.

Inventor： Wutu Lin ,  Liu Liu ,  Xing Sun

IPC: G05D1/00 ,  B60W30/02 ,  G06N20/00 ,  G06N3/08

CPC classification number: B60W30/02 ,  G05D1/0088 ,  G06N20/00 ,  B60W2540/30 ,  B60W2710/18 ,  B60W2710/20 ,  G06N3/08

Abstract: A system and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to a normal driving behavior safe zone; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone. Another embodiment includes modifying the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone.

公开(公告)号：US11892846B2

公开(公告)日：2024-02-06

申请号：US17006345

申请日：2020-08-28

Applicant: TuSimple, Inc.

Inventor： Xiaomin Zhang ,  Yilun Chen ,  Guangyu Li ,  Xing Sun ,  Wutu Lin ,  Liu Liu ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

CPC classification number: G05D1/0212 ,  G05D1/0088 ,  G08G1/161 ,  G08G1/166 ,  G08G1/167 ,  G05D2201/0213

Abstract: A prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment is configured to: receive training data and ground truth data from a training data collection system, the training data including perception data and context data corresponding to human driving behaviors; perform a training phase for training a trajectory prediction module using the training data; receive perception data associated with a host vehicle; and perform an operational phase for extracting host vehicle feature data and proximate vehicle context data from the perception data, generating a proposed trajectory for the host vehicle, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle based on the proposed host vehicle trajectory, determining if the proposed trajectory for the host vehicle will conflict with any of the predicted trajectories of the proximate vehicles, and modifying the proposed trajectory for the host vehicle until conflicts are eliminated.

公开(公告)号：US11500387B2

公开(公告)日：2022-11-15

申请号：US16991599

申请日：2020-08-12

Applicant: TUSIMPLE, INC.

Inventor： Xing Sun ,  Yufei Zhao ,  Wutu Lin ,  Zijie Xuan ,  Liu Liu ,  Kai-Chieh Ma

IPC: G05D1/02 ,  B25J9/16 ,  G05D1/00 ,  G06F9/00 ,  B60W30/00

Abstract: A system and method for providing multiple agents for decision making, trajectory planning, and control for autonomous vehicles are disclosed. A particular embodiment includes: partitioning a multiple agent autonomous vehicle control module for an autonomous vehicle into a plurality of subsystem agents, the plurality of subsystem agents including a deep computing vehicle control subsystem and a fast response vehicle control subsystem; receiving a task request from a vehicle subsystem; dispatching the task request to the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on the content of the task request or a context of the autonomous vehicle; causing execution of the deep computing vehicle control subsystem or the fast response vehicle control subsystem by use of a data processor to produce a vehicle control output; and providing the vehicle control output to a vehicle control subsystem of the autonomous vehicle.

公开(公告)号：US11294375B2

公开(公告)日：2022-04-05

申请号：US16849916

申请日：2020-04-15

Applicant: TUSIMPLE, INC.

Inventor： Wutu Lin ,  Liu Liu ,  Xing Sun ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/00 ,  B60W40/09

Abstract: A system and method for using human driving patterns to manage speed control for autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to desired human driving behaviors; training a human driving model module using a reinforcement learning process and the desired human driving behaviors; receiving a proposed vehicle speed control command; determining if the proposed vehicle speed control command conforms to the desired human driving behaviors by use of the human driving model module; and validating or modifying the proposed vehicle speed control command based on the determination.

公开(公告)号：US10739775B2

公开(公告)日：2020-08-11

申请号：US15796765

申请日：2017-10-28

Applicant: TuSimple, Inc.

Inventor： Xing Sun ,  Wutu Lin ,  Liu Liu ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/02 ,  G05D1/00 ,  G05D13/04 ,  G06N20/00 ,  G05B13/04

Abstract: A system and method for real world autonomous vehicle trajectory simulation are disclosed. A particular embodiment includes: receiving training data from a real world data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated, provide vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions, generate a trajectory corresponding to perception data and the vehicle intention data, execute at least one of the plurality of trained trajectory prediction models to generate a distribution of predicted vehicle trajectories for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario and the vehicle intention data, select at least one vehicle trajectory from the distribution based on pre-defined criteria, and update a state and trajectory of each of the plurality of simulated vehicles based on the selected vehicle trajectory from the distribution.

公开(公告)号：US10678234B2

公开(公告)日：2020-06-09

申请号：US15685715

申请日：2017-08-24

Applicant: TuSimple, Inc.

Inventor： Xing Sun ,  Wutu Lin ,  Liu Liu ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/00 ,  G01C21/26 ,  B60W20/00 ,  B60R16/023 ,  G01C21/34

Abstract: A system and method for autonomous vehicle control to minimize energy cost are disclosed. A particular embodiment includes: generating a plurality of potential routings and related vehicle motion control operations for an autonomous vehicle to cause the autonomous vehicle to transit from a current position to a desired destination; generating predicted energy consumption rates for each of the potential routings and related vehicle motion control operations using a vehicle energy consumption model; scoring each of the plurality of potential routings and related vehicle motion control operations based on the corresponding predicted energy consumption rates; selecting one of the plurality of potential routings and related vehicle motion control operations having a score within an acceptable range; and outputting a vehicle motion control output representing the selected one of the plurality of potential routings and related vehicle motion control operations.

公开(公告)号：US11853072B2

公开(公告)日：2023-12-26

申请号：US17901736

申请日：2022-09-01

Applicant: TuSimple, Inc.

Inventor： Xing Sun ,  Wutu Lin ,  Liu Liu ,  Kai-Chieh Ma ,  Zijie Xuan ,  Yufei Zhao

IPC: G05D1/02 ,  G05D1/00 ,  G05B13/04 ,  G06N20/00

CPC classification number: G05D1/0221 ,  G05B13/048 ,  G05D1/0088 ,  G06N20/00

Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.

公开(公告)号：US11782440B2

公开(公告)日：2023-10-10

申请号：US17126740

申请日：2020-12-18

Applicant: TUSIMPLE, INC.

Inventor： Liu Liu ,  Yuwei Wang ,  Xing Sun ,  Yufei Zhao ,  Wutu Lin

IPC: G05D1/00 ,  G05D1/02 ,  G06F30/15 ,  G06F30/20 ,  G06F111/10

CPC classification number: G05D1/0088 ,  G05D1/0212 ,  G05D1/0287 ,  G06F30/15 ,  G06F30/20 ,  G05D2201/0213 ,  G06F2111/10

Abstract: An autonomous vehicle simulation system for analyzing motion planners is disclosed. A particular embodiment includes: receiving map data corresponding to a real world driving environment; obtaining perception data and configuration data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration data; receiving vehicle control messages from an autonomous vehicle control system; and simulating the operation and behavior of areal world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

公开(公告)号：US11681292B2

公开(公告)日：2023-06-20

申请号：US17111984

申请日：2020-12-04

Applicant: TuSimple, Inc.

Inventor： Xingdong Li ,  Xing Sun ,  Wutu Lin ,  Liu Liu

IPC: G05D1/00 ,  G05D1/02 ,  G09B9/00 ,  G09B9/04 ,  G09B9/048 ,  G09B19/16 ,  G06F30/15 ,  G06F30/20 ,  G06F111/10

CPC classification number: G05D1/0088 ,  G05D1/0027 ,  G05D1/0223 ,  G06F30/15 ,  G06F30/20 ,  G09B9/00 ,  G09B9/04 ,  G09B9/048 ,  G09B19/167 ,  G05D2201/0213 ,  G06F2111/10

Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: receiving perception data from a plurality of perception data sensors; obtaining configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating a target position and target speed for each of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed.