公开(公告)号：US12131499B2

公开(公告)日：2024-10-29

申请号：US18339940

申请日：2023-06-22

申请人： TUSIMPLE, INC.

发明人： Yijie Wang ,  Lingting Ge ,  Yiqian Gan ,  Xiaodi Hou

IPC分类号： G06T7/73 ,  G06T7/33

CPC分类号： G06T7/74 ,  G06T7/337 ,  G06T2207/30184 ,  G06T2207/30252

摘要： Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark.

公开(公告)号：US20240353839A1

公开(公告)日：2024-10-24

申请号：US18662273

申请日：2024-05-13

申请人： TuSimple, Inc.

发明人： Jun CHEN ,  Wutu LIN ,  Liu LIU

IPC分类号： G05D1/00 ,  G05D1/246 ,  G05D1/247 ,  G05D1/81 ,  G06N3/00 ,  G06N3/08

CPC分类号： G05D1/0221 ,  G05D1/246 ,  G05D1/247 ,  G05D1/81 ,  G06N3/00 ,  G06N3/08

摘要： A system and method for implementing a neural network based vehicle dynamics model are disclosed. A particular embodiment includes: training a machine learning system with a training dataset corresponding to a desired autonomous vehicle simulation environment; receiving vehicle control command data and vehicle status data, the vehicle control command data not including vehicle component types or characteristics of a specific vehicle; by use of the trained machine learning system, the vehicle control command data, and vehicle status data, generating simulated vehicle dynamics data including predicted vehicle acceleration data; providing the simulated vehicle dynamics data to an autonomous vehicle simulation system implementing the autonomous vehicle simulation environment; and using data produced by the autonomous vehicle simulation system to modify the vehicle status data for a subsequent iteration.

公开(公告)号：US20240349442A1

公开(公告)日：2024-10-17

申请号：US18617741

申请日：2024-03-27

申请人： TuSimple, Inc.

发明人： Stephen W. Horton ,  Shimeng Wang ,  Brian C. Zelle ,  Holden James Yildirim ,  Jami Frances Tullius ,  Thomas Holladay Lind ,  Patrick James McNamara ,  Sridhar Kumar

IPC分类号： H05K7/14 ,  H05K7/20

CPC分类号： H05K7/1492 ,  H05K7/1495 ,  H05K7/20272 ,  H05K7/20872

摘要： A modular enclosure is configured to house a set of components that facilitate the autonomous functions of an autonomous vehicle while meeting a set of requirements. The set of components comprises a sensor processing unit configured to detect objects from sensors associated with the autonomous vehicle, a compute unit configured to determine a navigation path for the autonomous vehicle, a vehicle control unit configured to control the autonomous function of the autonomous vehicle, a communication gateway configured to establish communication of the autonomous vehicle, and a data diagnostics unit configured to determine a health data for at least one component of the autonomous vehicle. The set of requirements comprises a space requirement, a communication requirement, a cooling requirement, and a shock absorption requirement.

公开(公告)号：US12113885B2

公开(公告)日：2024-10-08

申请号：US17186476

申请日：2021-02-26

申请人： TUSIMPLE, INC. ,  BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.

发明人： Xiaoling Han ,  Junjun Xin ,  Lei Nie ,  Yue Pan ,  Yu Zhang ,  Jade E. Day ,  Zehua Huang ,  Esayas Naizghi ,  Pingyuan Ji ,  Zhiqi Gong

IPC分类号： H04L7/00 ,  G01C21/16 ,  G01C21/28 ,  G01S17/931 ,  G01S19/01 ,  H04L67/12

CPC分类号： H04L7/0016 ,  G01C21/16 ,  G01C21/28 ,  G01S17/931 ,  G01S19/01 ,  H04L67/12

摘要： Devices, systems, and methods for hardware-based time synchronization for heterogenous sensors are described. An example method includes generating a plurality of input trigger pulses having a nominal pulse-per-second (PPS) rate, generating, based on timing information derived from the plurality of input trigger pulses, a plurality of output trigger pulses, and transmitting the plurality of output trigger pulses to a sensor of a plurality of sensors, wherein a frequency of the plurality of output trigger pulses corresponds to a target operating frequency of the sensor, wherein, in a case that a navigation system coupled to the synchronization unit is functioning correctly, the plurality of input trigger pulses is generated based on a nominal PPS signal from the navigation unit, and wherein, in a case that the navigation system is not functioning correctly, the plurality of input trigger pulses is generated based on a simulated clock source of the synchronization unit.

公开(公告)号：US20240320987A1

公开(公告)日：2024-09-26

申请号：US18598384

申请日：2024-03-07

申请人： TuSimple, Inc.

发明人： Haiping WU ,  Long SHA ,  Hongyuan DU ,  Zilong GUO ,  Yihe TANG ,  Tingyu MAO ,  Pengfei CHEN ,  Panqu WANG ,  Rundong GE

IPC分类号： G06V20/58 ,  G06T7/12 ,  G06T7/13 ,  G06T7/50 ,  G06T7/70 ,  G06V10/25

CPC分类号： G06V20/584 ,  G06T7/12 ,  G06T7/13 ,  G06T7/50 ,  G06T7/70 ,  G06V10/25 ,  G06T2207/30196 ,  G06V2201/07

摘要： Techniques are described for performing an image processing technique on frames of a camera located on or in a vehicle. An example technique includes receiving, by a computer located in a vehicle, a first image frame from a camera located on or in the vehicle; obtaining a first combined set of information by combining a first set of information about an object detected from the first image frame and a second set of information about a set of objects detected from a second image frame, where the set of objects includes the object; obtaining, by using the first combined set of information, a second combined set of information about the object from the first image frame and from the second image frame; and causing the vehicle to perform a driving related operation in response to determining a characteristic of the object using the second combined set of information.

公开(公告)号：US20240317187A1

公开(公告)日：2024-09-26

申请号：US18444121

申请日：2024-02-16

申请人： TuSimple, Inc.

发明人： Qiwei LI ,  Christopher Luis HERNANDEZ

IPC分类号： B60S1/56 ,  B60S1/48

CPC分类号： B60S1/56 ,  B60S1/486

摘要： Provided herein is a system and method for a sensor housing that mitigates glare within the field-of-view and facilitates cleaning of a sensor lens. A sensor assembly may include: a sensor having a sensor lens and a field-of-view through the sensor lens; and a baffle defining a sensor lens aperture, where the field-of-view through the sensor lens is through the sensor lens aperture, where the baffle includes a series of concentric rings extending away from the sensor lens aperture and increasing in diameter as a distance from the sensor lens aperture increases. According to some embodiments, the series of concentric rings defines a viewing angle, where the viewing angle corresponds to the field-of-view of the sensor lens.

公开(公告)号：US12100190B2

公开(公告)日：2024-09-24

申请号：US18335785

申请日：2023-06-15

申请人： TUSIMPLE, INC.

发明人： Siyuan Liu ,  Lingting Ge ,  Chenzhe Qian ,  Zehua Huang ,  Xiaodi Hou

IPC分类号： G06K9/00 ,  B60W60/00 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/25 ,  G06V10/82 ,  G06V20/58

CPC分类号： G06V10/25 ,  B60W60/0025 ,  G06T7/11 ,  G06T7/70 ,  G06T11/20 ,  G06V10/82 ,  G06V20/58 ,  G06V20/584 ,  B60W2420/403 ,  B60W2554/00 ,  G06T2207/20132 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2210/12

摘要： Image processing techniques are described to obtain an image from a camera located on a vehicle while the vehicle is being driven, cropping a portion of the obtained image corresponding to a region of interest, detecting an object in the cropped portion, adding a bounding box around the detected object, determining position(s) of reference point(s) on the bounding box, and determining a location of the detected object in a spatial region where the vehicle is being driven based on the determined one or more positions of the second set of one or more reference points on the bounding box.

公开(公告)号：US20240311954A1

公开(公告)日：2024-09-19

申请号：US18437734

申请日：2024-02-09

申请人： TUSIMPLE, INC.

发明人： Zhipeng YAN ,  Pengfei CHEN ,  Panqu WANG

IPC分类号： G06T3/047 ,  G05D1/249 ,  G06T5/20 ,  G06T5/80

CPC分类号： G06T3/047 ,  G05D1/249 ,  G06T5/20 ,  G06T5/80 ,  G06T2207/30252

摘要： A system and method for fisheye image processing can be configured to: receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame; partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame; warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view; combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame; generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

公开(公告)号：US12073724B2

公开(公告)日：2024-08-27

申请号：US18335886

申请日：2023-06-15

申请人： TuSimple, Inc.

发明人： Panqu Wang

IPC分类号： G08G1/16 ,  G06T7/62 ,  G06T7/70 ,  G06V20/56

CPC分类号： G08G1/167 ,  G06T7/62 ,  G06T7/70 ,  G06V20/588 ,  G06T2207/10016 ,  G06T2207/30252

摘要： A system and method for determining car to lane distance is provided. In one aspect, the system includes a camera configured to generate an image, a processor, and a computer-readable memory. The processor is configured to receive the image from the camera, generate a wheel segmentation map representative of one or more wheels detected in the image, and generate a lane segmentation map representative of one or more lanes detected in the image. For at least one of the wheels in the wheel segmentation map, the processor is also configured to determine a distance between the wheel and at least one nearby lane in the lane segmentation map. The processor is further configured to determine a distance between a vehicle in the image and the lane based on the distance between the wheel and the lane.

公开(公告)号：US12071101B2

公开(公告)日：2024-08-27

申请号：US17660519

申请日：2022-04-25

申请人： TUSIMPLE, INC.

发明人： Xiaoling Han ,  Charles A. Price ,  Lindong Sun ,  Liu Liu ,  Yi Wang ,  Ruiliang Zhang

IPC分类号： G05D1/00 ,  B60R25/30 ,  H04W4/80 ,  H04W84/04 ,  H04W84/12

CPC分类号： B60R25/30 ,  G05D1/0022 ,  G05D1/0077 ,  H04W4/80 ,  H04W84/042 ,  H04W84/12

摘要： 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 a lack of coverage.