公开(公告)号：US12228472B2

公开(公告)日：2025-02-18

申请号：US18424318

申请日：2024-01-26

Applicant: TuSimple, Inc.

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

IPC: B60W50/02 ,  B60W30/00 ,  G01M17/00

Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: configuring a sensor noise modeling module to produce simulated sensor errors or noise data with a configured degree, extent, and timing of simulated sensor errors or noise based on a set of modifiable parameters; using the simulated sensor errors or noise data to generate simulated perception data by simulating errors related to constraints of one or more of a plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors; and providing the simulated perception data to a motion planning system for the autonomous vehicle.

公开(公告)号：US12007778B2

公开(公告)日：2024-06-11

申请号：US18094363

申请日：2023-01-08

Applicant: TuSimple, Inc.

Inventor： Jun Chen ,  Wutu Lin ,  Liu Liu

IPC: G06F30/20 ,  G05D1/00 ,  G06N3/00

CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/0274 ,  G05D1/0285 ,  G06N3/00

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.

公开(公告)号：US11366467B2

公开(公告)日：2022-06-21

申请号：US16862132

申请日：2020-04-29

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：US20200348678A1

公开(公告)日：2020-11-05

申请号：US16929954

申请日：2020-07-15

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

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：US10782693B2

公开(公告)日：2020-09-22

申请号：US15805983

申请日：2017-11-07

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

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, using the trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles near the host vehicle, generating a proposed trajectory for the host vehicle, 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：US10768626B2

公开(公告)日：2020-09-08

申请号：US15721781

申请日：2017-09-30

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 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：US20200241546A1

公开(公告)日：2020-07-30

申请号：US16848809

申请日：2020-04-14

Applicant: TUSIMPLE, INC.

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

IPC: G05D1/02 ,  B62D15/02 ,  G05D1/00

Abstract: 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：US10649458B2

公开(公告)日：2020-05-12

申请号：US15698607

申请日：2017-09-07

Applicant: TuSimple, Inc.

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

IPC: G05D1/02 ,  G05D1/00 ,  B62D15/02

Abstract: 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：US12071101B2

公开(公告)日：2024-08-27

申请号：US17660519

申请日：2022-04-25

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Charles A. Price ,  Lindong Sun ,  Liu Liu ,  Yi Wang ,  Ruiliang Zhang

IPC: G05D1/00 ,  B60R25/30 ,  H04W4/80 ,  H04W84/04 ,  H04W84/12

CPC classification number: B60R25/30 ,  G05D1/0022 ,  G05D1/0077 ,  H04W4/80 ,  H04W84/042 ,  H04W84/12

Abstract: Described are devices, systems and methods for real-time remote control of vehicles with high redundancy. In some embodiments, two copies of at least one control command are received using two different wireless communication protocols, and are compared. The at least one control command is executed when the two copies are in agreement, but is rejected when the two copies differ. In other embodiments, additional wireless communication protocols may exist to provide a redundant mode of communication when one of the two different wireless communication protocols are unavailable. In yet other embodiments, redundant GPS units may be used to determine availability of any of the communication protocols, and relevant control commands may be downloaded in advance to circumvent a lack of coverage.

公开(公告)号：US11886183B2

公开(公告)日：2024-01-30

申请号：US17807709

申请日：2022-06-17

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

CPC classification number: G05D1/0005 ,  B60R16/0236 ,  G01C21/3469 ,  G05D1/0088

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.