公开(公告)号：US20200160071A1

公开(公告)日：2020-05-21

申请号：US16752637

申请日：2020-01-25

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06K9/00 ,  G01S17/88 ,  G01S17/08 ,  G01S17/66 ,  G01S17/58 ,  G01S7/48 ,  G01S17/931 ,  G01S17/86

Abstract: A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

公开(公告)号：US20240182081A1

公开(公告)日：2024-06-06

申请号：US18440738

申请日：2024-02-13

Applicant: TUSIMPLE, INC.

Inventor： Yiqian GAN ,  Yijie WANG ,  Xiaodi HOU ,  Lingting GE

IPC: B60W60/00 ,  G06T3/40 ,  G06T7/62 ,  G06T7/73 ,  G06V20/58 ,  G08G1/16

CPC classification number: B60W60/0027 ,  G06T3/40 ,  G06T7/62 ,  G06T7/73 ,  G06V20/58 ,  G08G1/165 ,  G08G1/166 ,  B60W2420/403 ,  B60W2554/20 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/4044 ,  G06T2207/30261

Abstract: Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.

公开(公告)号：US20240040269A1

公开(公告)日：2024-02-01

申请号：US18356905

申请日：2023-07-21

Applicant: TUSIMPLE, INC.

Inventor： Jianqiu CAO ,  Tristan NGUYEN ,  Xiaoling HAN ,  Xiaodi HOU

IPC: H04N23/90 ,  B60W60/00 ,  H04N13/239 ,  G06T7/593 ,  G06T7/292

CPC classification number: H04N23/90 ,  B60W60/001 ,  H04N13/239 ,  G06T7/593 ,  G06T7/292 ,  B60W2420/42 ,  B60W2420/40 ,  B60W2420/52 ,  B60W2554/4042 ,  G06T2207/30252

Abstract: Embodiments are disclosed for providing full and redundant sensor coverage for an environment surrounding a vehicle. An example vehicle includes a plurality of first cameras and a plurality of second cameras. The first cameras are associated with a first field-of-view (FOV) having a first horizontal aspect, and the second cameras are associated with a second FOV having a second horizontal aspect. The first cameras and the second cameras are located at different angular locations on the vehicle along a horizontal plane. Horizontal aspects of two FOVs of any two consecutive cameras located along the horizontal plane overlap in the horizontal plane by at least a predetermined degree. Another example vehicle includes a controller for controlling autonomous driving operation of the vehicle and a sensor network that includes at least six sensors. Directional beams corresponding to the sensors cover a surrounding region of the vehicle relevant to the autonomous driving operation.

公开(公告)号：US20230399006A1

公开(公告)日：2023-12-14

申请号：US18363541

申请日：2023-08-01

Applicant: TUSIMPLE, INC. ,  Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Lingting GE ,  Yijie WANG ,  Yiqian GAN ,  Jianan HAO ,  Xiaodi HOU

IPC: B60W50/14 ,  G06T7/73 ,  G01S17/931 ,  B60W10/20 ,  G01S7/00 ,  G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  G06V10/774 ,  G06V10/776 ,  G06V10/80 ,  G06V20/56 ,  G06V20/64

CPC classification number: B60W50/14 ,  G06T7/74 ,  G01S17/931 ,  B60W10/20 ,  G01S7/003 ,  G01S17/89 ,  G05D1/0094 ,  G05D1/0248 ,  G06V10/774 ,  G06V10/776 ,  G06V10/806 ,  G06V20/56 ,  G06V20/647 ,  B60W2420/42 ,  B60W2420/52 ,  G06T2207/30244 ,  G06T2210/12

Abstract: Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.

公开(公告)号：US20230391340A1

公开(公告)日：2023-12-07

申请号：US18205944

申请日：2023-06-05

Applicant: TUSIMPLE, INC.

Inventor： Wutu LIN ,  Xiaodi HOU

IPC: B60W40/04 ,  G01S13/931 ,  G01C21/20 ,  G05D1/02 ,  G05D1/00 ,  G01S17/931

CPC classification number: B60W40/04 ,  G01S13/931 ,  G01C21/20 ,  G05D1/0214 ,  G05D1/0088 ,  G01S17/931 ,  G01S13/865

Abstract: A system and method for path planning of autonomous vehicles based on gradient are disclosed. A particular embodiment includes: executing a path planning module by use of a data processor; receiving, from a remote data source by use of the data processor, ancillary data to modify operation of the path planning module based on a context in which an autonomous vehicle is operating; generating, by use of the data processor, a trajectory comprising a plurality of waypoints; and causing the autonomous vehicle to follow a path conforming to the plurality of waypoints.

公开(公告)号：US20230334696A1

公开(公告)日：2023-10-19

申请号：US18339940

申请日：2023-06-22

Applicant: TUSIMPLE, INC.

Inventor： Yijie WANG ,  Lingting GE ,  Yiqian GAN ,  Xiaodi HOU

IPC: G06T7/73 ,  G06T7/33

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.

公开(公告)号：US20230162510A1

公开(公告)日：2023-05-25

申请号：US18090217

申请日：2022-12-28

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/48 ,  G01S17/86 ,  G01S17/931

CPC classification number: G06V20/58 ,  G01S17/58 ,  G01S17/66 ,  G01S17/08 ,  G01S17/88 ,  G01S7/4808 ,  G01S17/86 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.

公开(公告)号：US20230160712A1

公开(公告)日：2023-05-25

申请号：US18158974

申请日：2023-01-24

Applicant: TuSimple, Inc.

Inventor： Siyuan LIU ,  Mingdong WANG ,  Xiaodi HOU

IPC: G01C21/36 ,  G06V20/56

CPC classification number: G01C21/3658 ,  G06V20/588 ,  G01S17/89

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US20220076446A1

公开(公告)日：2022-03-10

申请号：US17531447

申请日：2021-11-19

Applicant: TUSIMPLE, INC.

Inventor： Yijie WANG ,  Lingting GE ,  Yiqian GAN ,  Xiaodi HOU

IPC: G06T7/73 ,  G06T7/33

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.

公开(公告)号：US20210406810A1

公开(公告)日：2021-12-30

申请号：US16917699

申请日：2020-06-30

Applicant: TUSIMPLE, INC.

Inventor： Xiaodi HOU ,  Jason WALLACE ,  Cheng LU

IPC: G06Q10/08

Abstract: Systems and techniques disclosed in this patent document provide novel and efficient ground transportation of goods by self-driving trucks based on a system of infrastructures with shipping hub facilities serving as warehouses and services centers in accordance with unique characteristics of operating autonomous self-driving trucks without entirely relying on human drivers, including features to cover technological issues, fleet management issues, and customer service issues. In addition, the disclosed systems and techniques may be implemented to integrate other fleet services and modes of transportation of goods with transportation services by self-driving trucks.