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公开(公告)号：US12164297B2
公开(公告)日：2024-12-10
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
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.
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公开(公告)号：US11691628B2
公开(公告)日：2023-07-04
申请号：US17164207
申请日：2021-02-01
Applicant: TUSIMPLE, INC.
Inventor： Junbo Jing , Dinghua Li , Arda Kurt , Chasen Sherman
CPC classification number: B60W30/19 , B60W60/001 , G01C21/3469 , G05D1/0212 , G05D1/0231 , B60W2510/104 , B60W2510/105 , B60W2510/18
Abstract: Devices, systems, and methods for integrated predictive dynamic control of a vehicle powertrain in an autonomous vehicle are described. An example method for controlling a vehicle includes generating, based on performing an optimization on a blended smooth wheel domain fuel consumption map subject to a modified torque availability constraint, one or more wheel domain control commands, converting the one or more wheel domain control commands to one or more powertrain-executable engine domain control commands, and transmitting the one or more powertrain-executable engine domain control commands to a powertrain of the vehicle, the powertrain configured to operate a plurality of gears, wherein the one or more powertrain-executable engine domain control commands enable the vehicle to track a reference kinematic trajectory associated with a vehicle speed driving plan within a predetermined tolerance.
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公开(公告)号：US20220291687A1
公开(公告)日：2022-09-15
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
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.
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公开(公告)号：US11372403B2
公开(公告)日：2022-06-28
申请号：US16181110
申请日：2018-11-05
Applicant: TuSimple, Inc.
Inventor： Aaron Havens , Jun Chen , Yujia Wu , Haoming Sun , Zijie Xuan , Arda Kurt
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.
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公开(公告)号：US12122424B2
公开(公告)日：2024-10-22
申请号：US17504856
申请日：2021-10-19
Applicant: TUSIMPLE, INC.
Inventor： Xiaoling Han , Zehua Huang , Arda Kurt , Yishi Liu , Zhiqi Gong , Yue Pan , Todd B. Skinner , Yujia Wu , Jianqiu Cao , Zijie Xuan , Shuhan Yang
CPC classification number: B60W60/0015 , B60W2510/0666 , B60W2510/18 , B60W2510/20 , B60W2555/20 , B60W2556/45 , B60W2710/0677 , B60W2710/18 , B60W2710/20 , G01P5/06 , G01P5/16 , G01P5/24
Abstract: An autonomous vehicle includes a detection system for identifying the presence changes in wind incident on the autonomous vehicle, particularly wind gusts. The detection system may include one or more wind sensors, particularly those configured to detect wind incident on the vehicle from a direction that is transverse or perpendicular to the direction of motion of the autonomous vehicle. Additionally, systems may be present that correlate the detected wind gusts to changes in the behavior of the autonomous vehicle. The autonomous vehicle may react to the detected wind gusts by altering the vehicle's trajectory, by stopping the vehicle, or by communicating with a control center for further instructions.
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Patent Agency Ranking
公开(公告)号：US12195003B2
公开(公告)日：2025-01-14
申请号：US18343837
申请日：2023-06-29
Applicant: TUSIMPLE, INC.
Inventor： Junbo Jing , Dinghua Li , Arda Kurt , Chasen Sherman
Abstract: Devices, systems, and methods for integrated predictive dynamic control of a vehicle powertrain in an autonomous vehicle are described. An example method for controlling a vehicle includes generating, based on performing an optimization on a blended smooth wheel domain fuel consumption map subject to a modified torque availability constraint, one or more wheel domain control commands, converting the one or more wheel domain control commands to one or more powertrain-executable engine domain control commands, and transmitting the one or more powertrain-executable engine domain control commands to a powertrain of the vehicle, the powertrain configured to operate a plurality of gears, wherein the one or more powertrain-executable engine domain control commands enable the vehicle to track a reference kinematic trajectory associated with a vehicle speed driving plan within a predetermined tolerance.
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公开(公告)号：US12174634B2
公开(公告)日：2024-12-24
申请号：US18186137
申请日：2023-03-17
Applicant: TUSIMPLE, INC.
Inventor： Junbo Jing , Arda Kurt , Tianqu Shao , Chasen Sherman , Xing Sun
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.
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公开(公告)号：US12122419B2
公开(公告)日：2024-10-22
申请号：US16912444
申请日：2020-06-25
Applicant: TUSIMPLE, INC.
Inventor： Junbo Jing , Arda Kurt , Yujia Wu , Tianqu Shao , Xing Sun , Zijie Xuan , Haoming Sun , Chasen Sherman
CPC classification number: B60W60/0011 , G05D1/0022 , G05D1/0274 , H04W4/40
Abstract: Described is a two-level optimal path planning process for autonomous tractor-trailer trucks which incorporates offline planning, online planning, and utilizing online estimation and perception results for adapting a planned path to real-world changes in the driving environment. In one aspect, a method of navigating an autonomous vehicle includes determining, by an online server, a current vehicle state of the autonomous vehicle in a mapped driving area. The method includes receiving, by the online server from an offline path library, a path for the autonomous driving vehicle through the mapped driving area from the current vehicle state to a destination vehicle state, and receiving fixed and moving obstacle information. The method includes adjusting the path to generate an optimized path that avoids the fixed and moving obstacles and ends at a targeted final vehicle state, and navigating the autonomous vehicle based on the optimized path.
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公开(公告)号：US11904807B2
公开(公告)日：2024-02-20
申请号：US17016145
申请日：2020-09-09
Applicant: TUSIMPLE, INC.
Inventor： Charles Seunghwan Han , Arda Kurt , Xiaoling Han
Abstract: Techniques are described for determining an occurrence of theft in a vehicle. An example processor implemented method comprises receiving, by a computer located in an autonomous vehicle and at a first time, a first torque value that indicates a first amount of torque applied by an engine of the autonomous vehicle to drive the autonomous vehicle, receiving, at a second time that is later in time than the first time, a second torque value that indicates a second amount of torque applied by the engine of the autonomous vehicle, determining that a difference between a first value and a second value is greater than a pre-determined value, where the first value and the second value are functions of at least the first torque value and at least the second value respectively, and displaying, in response to the determining, a message that indicates a theft detection in the autonomous vehicle.
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公开(公告)号：US20230244237A1
公开(公告)日：2023-08-03
申请号：US18186137
申请日：2023-03-17
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Arda Kurt , Tianqu Shao , Chasen Sherman , Xing Sun
CPC classification number: G05D1/0212 , B62D15/021 , B62D15/025 , G05D1/0274 , G05D1/0276 , G05D2201/0213 , G05D2201/0212
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.
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