公开(公告)号：US20200271473A1

公开(公告)日：2020-08-27

申请号：US15896077

申请日：2018-02-14

Applicant: TuSimple, Inc.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G01C21/36 ,  G01C21/32

Abstract: Various embodiments of the present disclosure provide a system and method for lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a camera; and a computer connected to the locating device, database, and camera, wherein the computer is adapted to: receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and generate a predicted vehicle location based on the comparison of the response map and the region map.

公开(公告)号：US20200271453A1

公开(公告)日：2020-08-27

申请号：US16184926

申请日：2018-11-08

Applicant: TuSimple, Inc.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G01C21/30

Abstract: Various embodiments of the present disclosure provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.

公开(公告)号：US12276982B2

公开(公告)日：2025-04-15

申请号：US18167993

申请日：2023-02-13

Applicant: TuSimple, Inc.

Inventor： Xiaoling Han ,  Chenzhe Qian ,  Chiyu Zhang ,  Charles A. Price ,  Joshua Miguel Rodriguez ,  Lei Nie ,  Lingting Ge ,  Panqu Wang ,  Pengfei Chen ,  Shuhan Yang ,  Xiangchen Zhao ,  Xiaodi Hou ,  Zehua Huang

IPC: B60W50/023 ,  G05D1/00

Abstract: A system installed in a vehicle includes a first group of sensing devices configured to allow a first level of autonomous operation of the vehicle; a second group of sensing devices configured to allow a second level of autonomous operation of the vehicle, the second group of sensing devices including primary sensing devices and backup sensing devices; a third group of sensing devices configured to allow the vehicle to perform a safe stop maneuver; and a control element communicatively coupled to the first group of sensing devices, the second group of sensing devices, and the third group of sensing devices. The control element is configured to: receive data from at least one of the first group, the second group, or the third group of sensing devices, and provide a control signal to a sensing device based on categorization information indicating a group to which the sensing device belongs.

公开(公告)号：US11852498B2

公开(公告)日：2023-12-26

申请号：US17308803

申请日：2021-05-05

Applicant: TUSIMPLE, INC.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/36 ,  G01C21/32 ,  G01S13/89 ,  G01S17/89 ,  G01S19/13

CPC classification number: G01C21/3602 ,  G01C21/32 ,  G01S13/89 ,  G01S17/89 ,  G01S19/13

Abstract: Various embodiments of the present disclosure provide a system and method for lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In the embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a camera; and a computer connected to the locating device, database, and camera, wherein the computer is adapted to: receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information form the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and generate a predicted vehicle location based on the comparison of the response map and region map.

公开(公告)号：US11810322B2

公开(公告)日：2023-11-07

申请号：US17225396

申请日：2021-04-08

Applicant: TUSIMPLE, INC.

Inventor： Chenzhe Qian ,  Yi Luo ,  Ke Xu ,  Mingdong Wang ,  Xiaodi Hou

IPC: G06T7/73

CPC classification number: G06T7/74 ,  G06T2207/30244 ,  G06T2207/30256

Abstract: Techniques are described for estimating pose of a camera located on a vehicle. An exemplary method of estimating camera pose includes obtaining, from a camera located on a vehicle, an image including a lane marker on a road on which the vehicle is driven, and estimating a pose of the camera such that the pose of the camera provides a best match according to a criterion between a first position of the lane marker determined from the image and a second position of the lane marker determined from a stored map of the road.

公开(公告)号：US11702089B2

公开(公告)日：2023-07-18

申请号：US17150271

申请日：2021-01-15

Applicant: TUSIMPLE, INC.

Inventor： Shane David Griffith ,  Chenghao Gong ,  Chenzhe Qian

IPC: B60W50/06 ,  G01S19/42 ,  G06T7/80 ,  B60W60/00 ,  G06V20/56

CPC classification number: B60W50/06 ,  B60W60/001 ,  G01S19/42 ,  G06T7/85 ,  G06V20/588 ,  B60W2420/42 ,  B60W2552/53 ,  G06T2207/30256

Abstract: Techniques for performing a sensor calibration using sequential data is disclosed. An example method includes receiving, from a first camera located on a vehicle, a first image comprising at least a portion of a road comprising lane markers, where the first image is obtained by the camera at a first time; obtaining a calculated value of a position of an inertial measurement (IM) device at the first time; obtaining an optimized first extrinsic matrix of the first camera by adjusting a function of a first actual pixel location of a location of a lane marker in the first image and an expected pixel location of the location of the lane marker; and performing autonomous operation of the vehicle using the optimized first extrinsic matrix of the first camera when the vehicle is operated on another road or at another time.

公开(公告)号：US11009356B2

公开(公告)日：2021-05-18

申请号：US16184926

申请日：2018-11-08

Applicant: TuSimple, Inc.

Inventor： Mingdong Wang ,  Chenzhe Qian ,  Xue Mei

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01C21/30

Abstract: Various embodiments of the present disclosure provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.