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公开(公告)号：US11312334B2
公开(公告)日：2022-04-26
申请号：US16243821
申请日：2019-01-09
Applicant: TuSimple, Inc.
Inventor： Xiaoling Han , Charles A. Price , Lindong Sun , Liu Liu , Yi Wang , Ruiliang Zhang
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 the lack of coverage.
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公开(公告)号：US11305782B2
公开(公告)日：2022-04-19
申请号：US16245621
申请日：2019-01-11
Applicant: TuSimple, Inc.
Inventor： Lindong Sun , Liu Liu , Xiaoling Han , Yi Wang , Ruiliang Zhang
Abstract: Disclosed are devices, systems and methods for a monitoring system for autonomous vehicle operation. In some embodiments, a vehicle may perform self-tests, generate a report based on the results, and transmit it to a remote monitor center over one or both of a high-speed channel for regular data transfers or a reliable channel for emergency situations. In other embodiments, the remote monitor center may determine that immediate intervention is required, and may transmit a control command with high priority, which when received by the vehicle, is implemented and overrides any local commands being processed. In yet other embodiments, the control command with high priority is selected from a small group of predetermined control commands the remote monitor center may issue.
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公开(公告)号：US11040710B2
公开(公告)日：2021-06-22
申请号：US16416244
申请日：2019-05-19
Applicant: TuSimple, Inc.
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.
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公开(公告)号：US10860018B2
公开(公告)日：2020-12-08
申请号：US15827583
申请日：2017-11-30
Applicant: TuSimple, Inc.
Inventor： Xingdong Li , Xing Sun , Wutu Lin , Liu Liu
IPC: G06F30/10 , G05D1/00 , G05D1/02 , G09B9/00 , G09B9/04 , G09B9/048 , G09B19/16 , G06F30/15 , G06F30/20 , G06F111/10
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.
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公开(公告)号：US10830669B2
公开(公告)日：2020-11-10
申请号：US16660244
申请日：2019-10-22
Applicant: TuSimple, Inc.
Inventor： Xing Sun , Wutu Lin , Yufei Zhao , Liu Liu
Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: receiving perception data from a plurality of sensors of an autonomous vehicle; configuring the perception simulation operation based on a comparison of the perception data against ground truth data; generating simulated perception data by simulating errors related to the physical constraints of one or more of the 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.
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Patent Agency Ranking
公开(公告)号：US10752246B2
公开(公告)日：2020-08-25
申请号：US15806127
申请日：2017-11-07
Applicant: TuSimple, Inc.
Inventor： Wutu Lin , Liu Liu , Zijie Xuan , Xing Sun , Kai-Chieh Ma , Yufei Zhao
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.
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公开(公告)号：US10737695B2
公开(公告)日：2020-08-11
申请号：US15640516
申请日：2017-07-01
Applicant: TuSimple, Inc.
Abstract: A system and method for adaptive cruise control for low speed following are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including distance data and velocity data relative to a lead vehicle; generating a weighted distance differential corresponding to a weighted difference between an actual distance between the autonomous vehicle and the lead vehicle and a desired distance between the autonomous vehicle and the lead vehicle; generating a weighted velocity differential corresponding to a weighted difference between a velocity of the autonomous vehicle and a velocity of the lead vehicle; combining the weighted distance differential and the weighted velocity differential with the velocity of the lead vehicle to produce a velocity command for the autonomous vehicle; adjusting the velocity command using a dynamic gain; and controlling the autonomous vehicle to conform to the adjusted velocity command.
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公开(公告)号：US12242271B2
公开(公告)日：2025-03-04
申请号：US17983974
申请日：2022-11-09
Applicant: TuSimple, Inc.
Inventor： Xing Sun , Yufei Zhao , Wutu Lin , Zijie Xuan , Liu Liu , Kai-Chieh Ma
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; determining if the task request is appropriate for 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; dispatching the task request to the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on the determination; 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.
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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.
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公开(公告)号：US12122398B2
公开(公告)日：2024-10-22
申请号：US17722110
申请日：2022-04-15
Applicant: TUSIMPLE, INC.
Inventor： Lindong Sun , Liu Liu , Xiaoling Han , Yi Wang , Ruiliang Zhang
CPC classification number: B60W50/0205 , G05B23/00 , G05D1/0011 , G05D1/0055 , G05D1/0088 , G05D1/0282 , G07C5/008 , G07C5/0808
Abstract: An apparatus is provided to comprise: at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to: receive, from an electronic control unit of a vehicle, a test result comprising a result of a self test performed by the electronic control unit; analyze the received test result to determine a vehicle status, the vehicle status comprising a status indicator and status information to be included in a report; periodically transmit, to a remote system according to a first time period, a report including the vehicle status, a duration of the first time period being dependent on the vehicle status; receive, from the remote system, a control command; and in response to the control command being received, implement the control command.
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