公开(公告)号：US11999348B2

公开(公告)日：2024-06-04

申请号：US16773541

申请日：2020-01-27

Applicant: TUSIMPLE, INC.

Inventor： Junbo Jing ,  Arda Kurt ,  Chasen Sherman ,  Tianqu Shao ,  Haoming Sun

IPC: B60W30/18 ,  B60W10/06 ,  B60W10/18 ,  B60W60/00 ,  F02D9/06

CPC classification number: B60W30/18136 ,  B60W10/06 ,  B60W10/18 ,  B60W60/0025 ,  F02D9/06 ,  B60W2510/0657 ,  B60W2510/10 ,  B60W2520/10 ,  B60W2520/28 ,  B60W2710/06 ,  B60W2710/18 ,  F02D2200/1006

Abstract: Methods, systems, and devices related to a method of controlling an autonomous vehicle, in particular, an autonomous diesel-engine truck are disclosed. In one example aspect, the method includes determining an available engine brake torque generation mechanism for reducing a current speed of the autonomous vehicle to a lower speed and selecting a brake mode corresponding to the engine brake torque availability. In case a rate of speed reduction is equal to or smaller than a threshold, the brake mode includes only an engine brake in which engine exhaust valve opening is adjusted for reducing the current speed. The threshold determined in part based on the available engine brake torque, gear position of the transmission, and the online estimated vehicle longitudinal dynamic model. In case the rate of speed reduction is greater than the threshold, the brake mode incudes a combination of the engine brake and the foundation brake.

公开(公告)号：US20240004386A1

公开(公告)日：2024-01-04

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

IPC: G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/0212 ,  G05B2219/42033 ,  G05D2201/0213 ,  B60W10/20

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.

公开(公告)号：US11809193B2

公开(公告)日：2023-11-07

申请号：US16934989

申请日：2020-07-21

Applicant: TUSIMPLE, INC.

Inventor： Yujia Wu ,  Zijie Xuan ,  Arda Kurt

IPC: G05D1/02

CPC classification number: G05D1/0221 ,  G05D1/0219 ,  G05D1/0246

Abstract: Techniques are described to determine parameters and/or values for a control model that can be used to operate an autonomous vehicle, such as an autonomous semi-trailer truck. For example, a method of obtaining a data-driven model for autonomous driving may include obtaining data associated with a first set of variables that characterize movements of an autonomous vehicle over time and commands provided to the autonomous vehicle over time, determining, using at least the first set of data, non-zero values and an associated second set of variables that describe a control model used to perform an autonomous driving operation of the autonomous vehicle, and calculating values for a feedback controller that describes a transfer function used to perform the autonomous driving operation of the autonomous vehicle driven on a road.

公开(公告)号：US11809185B2

公开(公告)日：2023-11-07

申请号：US17805219

申请日：2022-06-02

Applicant: TuSimple, Inc.

Inventor： Aaron Havens ,  Jun Chen ,  Yujia Wu ,  Haoming Sun ,  Zijie Xuan ,  Arda Kurt

IPC: G05D1/00 ,  G06F17/11 ,  G05B19/4155 ,  G05D1/02 ,  B60W10/20 ,  B60W10/18 ,  B60W50/00

CPC classification number: G05D1/0088 ,  G05B19/4155 ,  G05D1/0212 ,  G06F17/11 ,  B60W10/18 ,  B60W10/20 ,  B60W50/00 ,  B60W2050/0011 ,  B60W2050/0028 ,  B60W2050/0083 ,  B60W2300/145 ,  B60W2400/00 ,  B60W2520/22 ,  B60W2530/10 ,  B60W2710/18 ,  B60W2710/20 ,  G05B2219/42033 ,  G05D2201/0213

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.

公开(公告)号：US11619943B2

公开(公告)日：2023-04-04

申请号：US16826117

申请日：2020-03-20

Applicant: TUSIMPLE, INC.

Inventor： Junbo Jing ,  Arda Kurt ,  Tianqu Shao ,  Chasen Sherman ,  Xing Sun

IPC: G05D1/02 ,  B62D15/02

Abstract: Methods, systems and apparatus for autonomous vehicle path planning and path navigation are described. One example system includes an offline server configured to generate a library of optimal paths for navigating a geographic area, wherein the geographic area is represented as a grid node map and an orientation grid bin map and wherein the optimal paths correspond to paths between pairs of grid node pairs in the grid node map based on optimization criteria, a storage device on the autonomous vehicle for storing the library of optimal paths, and an online server located on the autonomous vehicle configured to access information from the library of optimal paths from the storage device based on a current position and a current heading of the autonomous vehicle, and navigating the autonomous vehicle through the geographic area based on the information.

公开(公告)号：US11505213B2

公开(公告)日：2022-11-22

申请号：US16938251

申请日：2020-07-24

Applicant: TUSIMPLE, INC.

Inventor： John E. Panttila ,  Zhujia Shi ,  Riad I. Hammoud ,  Arda Kurt

IPC: B60W60/00

Abstract: Techniques are described for determining visibility conditions of an environment in which an autonomous vehicle is operated and performing driving related operations based on the visibility conditions. An example method of adjusting driving related operations of a vehicle includes determining, by a computer located in an autonomous vehicle, a visibility related condition of an environment in which the autonomous vehicle is operating, adjusting, based at least on the visibility related condition, a set of one or more values of one or more variables associated with a driving related operation of the autonomous vehicle, and causing the autonomous vehicle to be driven to a destination by causing the driving related operation of one or more devices located in the autonomous vehicle based on at least the set of one or more values.