公开(公告)号：US11608087B2

公开(公告)日：2023-03-21

申请号：US16870841

申请日：2020-05-08

Applicant: TUSIMPLE, INC.

Inventor： Kaixin Zheng ,  Xiaoling Han ,  Zehua Huang ,  Charles A. Price

IPC: B60W60/00 ,  B60W40/105 ,  B60W10/20 ,  B62D6/10

Abstract: Techniques are described for transitioning control of a steering system from an autonomous mode in a vehicle to a driver-controlled mode where the driver can control the steering wheel of the steering system. A method includes receiving values that describe an amount of torque and a direction of torque in response to a torque applied to a steering wheel of a steering system operated in an autonomous mode, determining that the values are either greater than or equal to a threshold value or are less than or equal to a negative of the threshold value, determining that the values are measured over a period of time greater than or equal to a pre-determined amount of time, and transitioning the steering system from being operated in the autonomous mode to being operated in a driver-controlled mode in which the steering system is under manual control.

公开(公告)号：US11554793B2

公开(公告)日：2023-01-17

申请号：US17080444

申请日：2020-10-26

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Yu-Ju Hsu ,  Mohamed Hassan Ahmed Hassan Wahba ,  Kun Zhang ,  Zehua Huang ,  Qiong Xu ,  Zhujia Shi ,  Yicai Jiang ,  Junjun Xin

IPC: B60W60/00 ,  B60W30/08 ,  B60W50/029 ,  B60W50/02

Abstract: Devices, systems, and methods for a vehicular safety system in autonomous vehicles are described. An example method for safely controlling a vehicle includes selecting, based on a first control command from a first vehicle control unit, an operating mode of the vehicle, and transmitting, based on the selecting, the operating mode to an autonomous driving system, wherein the first control command is generated based on input from a first plurality of sensors, and wherein the operating mode corresponds to one of (a) a default operating mode, (b) a minimal risk condition mode of a first type that configures the vehicle to pull over to a nearest pre-designated safety location, (c) a minimal risk condition mode of a second type that configures the vehicle to immediately stop in a current lane, or (d) a minimal risk condition mode of a third type that configures the vehicle to come to a gentle stop.

公开(公告)号：US20210080286A1

公开(公告)日：2021-03-18

申请号：US17082551

申请日：2020-10-28

Applicant: TUSIMPLE, INC.

Inventor： Xiaoling Han ,  Zehua Huang

IPC: G01C25/00 ,  G01S17/42 ,  G01C9/06 ,  G01S17/46 ,  G01S17/89 ,  G06T7/80 ,  G01S17/10 ,  G01S17/48 ,  H04N17/00 ,  G01S7/4865 ,  G01S17/931 ,  G01C11/04 ,  G01S7/48

Abstract: Technique for performing camera calibration on a vehicle is disclosed. A method of performing camera calibration includes emitting, by a laser emitter located on a vehicle and pointed towards a road, a first laser pulse group towards a first location on a road and a second laser pulse group towards a second location on the road, where each laser pulse group includes one or more laser spots. For each laser pulse group: a first set of distances are calculated from a location of a laser receiver to the one or more laser spots, and a second set of distances are determined from an image obtained from a camera, where the second set of distances are from a location of the camera to the one or more laser spots. The method also includes determining two camera calibration parameters of the camera by solving two equations.

公开(公告)号：US10762635B2

公开(公告)日：2020-09-01

申请号：US15623323

申请日：2017-06-14

Applicant: TuSimple, Inc.

Inventor： Zhipeng Yan ,  Zehua Huang ,  Pengfei Chen ,  Panqu Wang

IPC: G06K9/34 ,  G06K9/62 ,  G06T7/11 ,  G06T7/143

Abstract: A system and method for actively selecting and labeling images for semantic segmentation are disclosed. A particular embodiment includes: receiving image data from an image generating device; performing semantic segmentation or other object detection on the received image data to identify and label objects in the image data and produce semantic label image data; determining the quality of the semantic label image data based on prediction probabilities associated with regions or portions of the image; and identifying a region or portion of the image for manual labeling if an associated prediction probability is below a pre-determined threshold.

公开(公告)号：US10147193B2

公开(公告)日：2018-12-04

申请号：US15456294

申请日：2017-03-10

Applicant: TuSimple

Inventor： Zehua Huang ,  Pengfei Chen ,  Panqu Wang

IPC: G06K9/62 ,  G06T7/11 ,  G06K9/46 ,  G06N3/02 ,  G05D1/00 ,  B60W50/00

Abstract: A system and method for semantic segmentation using hybrid dilated convolution (HDC) are disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image; performing a convolution operation on the feature map and producing multiple convolution layers; grouping the multiple convolution layers into a plurality of groups; applying different dilation rates for different convolution layers in a single group of the plurality of groups; and applying a same dilation rate setting across all groups of the plurality of groups.

公开(公告)号：US20180259970A1

公开(公告)日：2018-09-13

申请号：US15693446

申请日：2017-08-31

Applicant: TuSimple

Inventor： Panqu WANG ,  Pengfei CHEN ,  Zehua Huang

IPC: G05D1/02 ,  G06K9/46 ,  G06T7/70 ,  G06K9/66 ,  G06T7/11 ,  G05D1/00 ,  G06N3/04 ,  G06N3/08

Abstract: A system method for occluding contour detection using a fully convolutional neural network is disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image by semantic segmentation; applying a Dense Upsampling Convolution (DUC) operation on the feature map to produce contour information of objects and object instances detected in the input image; and applying the contour information onto the input image.

公开(公告)号：US09953236B1

公开(公告)日：2018-04-24

申请号：US15456219

申请日：2017-03-10

Applicant: TuSimple

Inventor： Zehua Huang ,  Pengfei Chen ,  Panqu Wang

IPC: G06K9/34 ,  G06K9/00 ,  G05D1/00 ,  G06K9/66 ,  G06K9/52 ,  G06K9/62 ,  G05D1/02

CPC classification number: G06K9/34 ,  G06K9/00791 ,  G06K9/52 ,  G06K9/6267 ,  G06K9/66

Abstract: A system and method for semantic segmentation using dense upsampling convolution (DUC) are disclosed. A particular embodiment includes: receiving an input image; producing a feature map from the input image; performing a convolution operation on the feature map and reshape the feature map to produce a label map; dividing the label map into equal subparts, which have the same height and width as the feature map; stacking the subparts of the label map to produce a whole label map; and applying a convolution operation directly between the feature map and the whole label map without inserting extra values in deconvolutional layers to produce a semantic label map.