公开(公告)号：US11983008B2

公开(公告)日：2024-05-14

申请号：US17654224

申请日：2022-03-09

Applicant: TuSimple, Inc.

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

IPC: G05D1/00 ,  B60W40/09

CPC classification number: G05D1/0088 ,  B60W40/09 ,  B60W2720/103

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：US11933617B2

公开(公告)日：2024-03-19

申请号：US16987175

申请日：2020-08-06

Applicant: TuSimple, Inc. ,  Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yufei Zhao ,  Fan Mo ,  Xuren Zhou

IPC: G01C21/34 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01C21/3446 ,  G05D1/0219 ,  G05D1/0285

Abstract: Systems and methods for autonomous lane level navigation are disclosed. 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 a partial high-definition (HD) map that defines a plurality of lane segments that together represent one or more lanes of a roadway, the partial HD map including at least a current lane segment. The processor is also configured to generate auxiliary global information for each of the lane segments in the partial HD map. The processor is further configured to generate a subgraph including a plurality of possible routes between the current lane segment and the destination lane segment using the partial HD map and the auxiliary global information, select one of the possible routes for navigation based on the auxiliary global information, and generate lane level navigation information based on the selected route.

公开(公告)号：US11753008B2

公开(公告)日：2023-09-12

申请号：US16941190

申请日：2020-07-28

Applicant: TUSIMPLE, INC.

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

IPC: B60W30/16 ,  B60W30/14

CPC classification number: B60W30/16 ,  B60W30/143 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2554/801 ,  B60W2554/804 ,  B60W2720/10 ,  B60W2754/30

Abstract: A system and method for adaptive cruise control with proximate vehicle detection are disclosed. The example embodiment can be configured for: receiving input object data from a subsystem of a host vehicle, the input object data including distance data and velocity data relative to detected target vehicles; detecting the presence of any target vehicles within a sensitive zone in front of the host vehicle, to the left of the host vehicle, and to the right of the host vehicle; determining a relative speed and a separation distance between each of the detected target vehicles relative to the host vehicle; and generating a velocity command to adjust a speed of the host vehicle based on the relative speeds and separation distances between the host vehicle and the detected target vehicles to maintain a safe separation between the host vehicle and the target vehicles.

公开(公告)号：US20200371521A1

公开(公告)日：2020-11-26

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：US12240496B2

公开(公告)日：2025-03-04

申请号：US18048999

申请日：2022-10-24

Applicant: TuSimple, Inc.

Inventor： Hunter Scott Willoughby ,  Dishi Li ,  Yufei Zhao

IPC: B60W60/00 ,  B60Q1/46 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  B60W30/14 ,  B60W30/18 ,  B60W40/02 ,  B60W40/04 ,  B60W40/06 ,  B60W40/076 ,  B60W40/105 ,  B60W50/02 ,  B60W50/14 ,  G01C21/00 ,  G01C21/34 ,  G06V20/56 ,  G06V20/58

Abstract: A control device associated with an autonomous vehicle receives sensor data and detects that the autonomous vehicle is approaching a railroad crossing based on the sensor data. The control device determines that the railroad crossing is closed from the sensor data. The control device determines one or more re-routing options from map data. The control device determines whether at least one re-routing option reaches a predetermined destination of the autonomous vehicle. In response to determining that the at least one re-routing option reaches the predetermined destination, the control device selects a particular re-routing option based at least on determining that the autonomous vehicle is able to travel according to the particular re-routing option autonomously. The control device instructs the autonomous vehicle to re-route according to the particular re-routing option.

公开(公告)号：US12187319B2

公开(公告)日：2025-01-07

申请号：US18049031

申请日：2022-10-24

Applicant: TuSimple, Inc.

Inventor： Hunter Scott Willoughby ,  Dishi Li ,  Yufei Zhao

IPC: B60W60/00 ,  B60Q1/46 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  B60W30/14 ,  B60W30/18 ,  B60W40/02 ,  B60W40/04 ,  B60W40/06 ,  B60W40/076 ,  B60W40/105 ,  B60W50/02 ,  B60W50/14 ,  G01C21/00 ,  G01C21/34 ,  G06V20/56 ,  G06V20/58

Abstract: A control device associated with an autonomous vehicle receives sensor data and detects that the autonomous vehicle is approaching a railroad crossing based on the sensor data. The control device determines that no train is approaching the railroad crossing from the sensor data. The control device detects an indication of a stopped vehicle in front of the autonomous vehicle and behind the railroad crossing. The control device determines whether the stopped vehicle is associated with a mandatory stop rule. The mandatory stop rule indicates vehicles carrying hazardous materials have to stop behind the railroad crossing even when no train is approaching or traveling through the railroad crossing. If it is determined that the stopped vehicle is associated with the mandatory stop rule, the control device waits behind the stopped vehicle until the stopped vehicle crosses the railroad crossing and instructs the autonomous vehicle to cross the railroad.

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：US20230136434A1

公开(公告)日：2023-05-04

申请号：US18048890

申请日：2022-10-24

Applicant: TuSimple, Inc.

Inventor： Yufei Zhao ,  Tianqu Shao ,  Yujia Wu ,  Lei Wang ,  Haoming Sun

IPC: B60W30/18 ,  B60W40/072 ,  B60W40/04 ,  B60W60/00

Abstract: A system for implementing a lane bias maneuver to negotiate a curved road comprises an autonomous vehicle and a control device. The control device determines that the autonomous vehicle is approaching a curved road. The control device determines a road radius of the curved road. The control device calculates a first lane bias adjustment amount associated with a road curvature of the curved road based on the road radius. The control device calculates a second lane bias adjustment amount associated with a trailer angle between a trailer and a semi-truck tractor unit of the autonomous vehicle. The control device calculates a total lane bias adjustment amount by combining the first and second lane bias adjustment amounts. The control device instructs the autonomous vehicle to perform a lane bias maneuver that comprises driving the autonomous vehicle off-center in a curved lane based on the total lane bias adjustment amount.

公开(公告)号：US20230134247A1

公开(公告)日：2023-05-04

申请号：US18048917

申请日：2022-10-24

Applicant: TuSimple, Inc.

Inventor： Hunter Scott Willoughby ,  Dishi Li ,  Yufei Zhao

IPC: B60W30/18 ,  B60W30/14 ,  B60W40/02 ,  B60W40/105 ,  B60W60/00 ,  B60W10/10

Abstract: A control device associated with an autonomous vehicle receives sensor data and detects that the autonomous vehicle is approaching a railroad crossing based on the sensor data. The control device determines a target lane to travel while crossing the railroad. The target lane is a lane that has available space with at least a length of the autonomous vehicle on the other side of the railroad as opposed to a side of the railroad where the autonomous vehicle is currently traveling. The control device instructs the autonomous vehicle to travel on the target lane. The control device determines that no train is approaching the railroad crossing. The control device instructs the autonomous vehicle to cross the railroad if the target lane still provides available space with at least the length of the autonomous vehicle on the other side of the railroad.