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公开(公告)号：US20230339473A1
公开(公告)日：2023-10-26
申请号：US18343837
申请日：2023-06-29
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 , B60W2510/18 , B60W2510/104 , B60W2510/105
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：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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公开(公告)号：US20220242413A1
公开(公告)日：2022-08-04
申请号：US17164207
申请日：2021-02-01
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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Patent Agency Ranking
公开(公告)号：US20240391490A1
公开(公告)日：2024-11-28
申请号：US18664712
申请日：2024-05-15
Applicant: TuSimple, Inc.
Inventor： Chunan HUANG , Patrik KOLARIC , Junbo JING , Yufei ZHAO
Abstract: An example method for controlling a vehicle includes obtaining reference information relating to an operation parameter of the vehicle, the operation parameter describing mission waypoints of the vehicle at respective time points during which the vehicle is to traverse a path, the reference information including reference values of the operation parameter corresponding to the time points; obtaining context information of the vehicle that relates to a state of the vehicle during an operation of the vehicle at the respective time points or an environment enclosing the path; determining tolerable ranges of the operation parameter for the time points based on the reference information and the context information; obtaining penalty information relating to differences between respective tolerable ranges and corresponding values of a constraint at the time points; determining a control instruction based on the tolerable ranges and the penalty information; and operating the vehicle based on the control instruction.
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公开(公告)号：US20240383486A1
公开(公告)日：2024-11-21
申请号：US18664793
申请日：2024-05-15
Applicant: TuSimple, Inc.
Inventor： Patrik KOLARIC , Chunan HUANG , Junbo JING , Yufei ZHAO
Abstract: Devices, systems, and methods for controlling a vehicle are described. An example method for controlling a vehicle includes obtaining planning information relating to an intended operation of the vehicle over a prediction horizon; inputting the planning information into an uncertainty model to determine uncertainty information, wherein: the uncertainty model is trained using sample driving event data based on a multivariate probability prediction algorithm; and the uncertainty model is configured to predict the uncertainty information that relates to a deviation of an operation of the vehicle according to an intended control instruction from the intended operation, the intended control instruction being determined based on the planning information; generating a control instruction based on the planning information and the uncertainty information; and operating the vehicle based on the control instruction.
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公开(公告)号：US20240308519A1
公开(公告)日：2024-09-19
申请号：US18677656
申请日：2024-05-29
Applicant: TUSIMPLE, INC.
Inventor： Junbo JING , Arda KURT , Chasen SHERMAN , Tianqu SHAO , Haoming SUN
CPC classification number: B60W30/18136 , B60W10/06 , B60W10/18 , B60W60/0025 , F02D9/06 , B60W2510/0657 , B60W2510/10 , B60W2520/10 , B60W2520/28 , B60W2710/06 , B60W2710/18 , F02D2200/1006
Abstract: Methods, systems, and devices related to a method of controlling an autonomous diesel-engine vehicle. In one example aspect, the method includes determining longitudinal dynamic response properties of the autonomous vehicle. A brake mode is selected for reducing a current speed of the autonomous vehicle to a lower speed, based on a threshold that is determined using the longitudinal dynamic response properties of the vehicle. When a rate of speed reduction is equal to or smaller than the threshold, the brake mode includes only an engine brake in which engine exhaust valve opening is adjusted for reducing the current speed. When the rate of speed reduction is greater than the threshold, the brake mode incudes a combination of the engine brake and the foundation brake.
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公开(公告)号：US20240034341A1
公开(公告)日：2024-02-01
申请号：US18355678
申请日：2023-07-20
Applicant: TUSIMPLE, INC.
Inventor： Shen QU , Liu LIU , Junbo JING , Haoming SUN
CPC classification number: B60W50/06 , G07C5/02 , B60W60/00 , G05B17/02 , B60W2520/16 , B60W2520/18 , B60W2520/14 , B60W2552/15 , B60W2520/105 , B60W2520/125 , B60W2050/0056
Abstract: Vehicle dynamics related parameter(s) of an autonomous vehicle model can be calibrated so that the autonomous vehicle model can more accurately determine the driving related behaviors of the autonomous vehicle. An example method comprises obtaining, from sensor data, vehicle related parameters; performing a first determination of a slope of a road and a banking angle of the road based on a pitch angle of the vehicle and a roll angle of the vehicle, respectively; performing a second determination of a set of parameters that describe a driving-related operation of the vehicle; performing a third determination that at least one difference between at least one value from the set of parameters and a corresponding parameter from the plurality of vehicle related parameters exceeds at least one threshold value; and obtaining, in response to the third determination, a calibrated longitudinal dynamic-related parameter or a calibrated lateral dynamic-related parameter.
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公开(公告)号：US20230415777A1
公开(公告)日：2023-12-28
申请号：US18341121
申请日：2023-06-26
Applicant: TUSIMPLE, INC.
Inventor： Jingxuan LIU , Arda KURT , Junbo JING
IPC: B60W60/00 , B60W40/076 , B60W40/107 , B60W40/13 , B60W50/00 , H04L12/40
CPC classification number: B60W60/0015 , B60W40/076 , B60W40/107 , B60W40/13 , B60W50/00 , H04L12/40 , B60W2050/0052 , B60W2510/0657 , B60W2510/18 , B60W2530/10 , B60W2552/15 , H04L2012/40215 , H04L2012/40273
Abstract: Devices, systems, and methods for estimating wheel torque in an autonomous vehicle include a method for controlling a vehicle includes using a dual filter framework to generate an updated estimate of a wheel torque, and controlling, based on the updated estimate of the wheel torque, the vehicle. A first filter of the dual filter framework is configured to generate a blended estimate of the wheel torque by combining a first estimate of the wheel torque that is generated based on a set of mechanical torque transfer models of at least a powertrain and a brake of the vehicle and a second estimate of wheel torque that is generated based on an inverted longitudinal dynamic model, and a second non-linear filter of the dual filter framework is configured to generate the updated estimate of a wheel torque and vehicle velocity based on a torque delivery damping process model on vehicle motion.
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