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

IPC: B60W30/18 ,  B60W10/06 ,  B60W10/18 ,  B60W60/00 ,  F02D9/06

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.

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

IPC: B60W50/06 ,  G07C5/02 ,  B60W60/00 ,  G05B17/02

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.

公开(公告)号：US20210403032A1

公开(公告)日：2021-12-30

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

IPC: B60W60/00 ,  G05D1/02 ,  G05D1/00 ,  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.

公开(公告)号：US20210229668A1

公开(公告)日：2021-07-29

申请号：US16773541

申请日：2020-01-27

Applicant: TUSIMPLE, INC.

Inventor： Junbo JING ,  Arda KURT ,  Chasen SHERMAN ,  Tianqu SHAO ,  Haoming SUN

IPC: B60W30/18 ,  B60W60/00 ,  B60W10/18 ,  F02D9/06 ,  B60W10/06

Abstract: Methods, systems, and devices related to a method of controlling an autonomous vehicle, in particular, an autonomous diesel-engine truck are disclosed. In one example aspect, the method includes determining an available engine brake torque generation mechanism for reducing a current speed of the autonomous vehicle to a lower speed and selecting a brake mode corresponding to the engine brake torque availability. In case a rate of speed reduction is equal to or smaller than a threshold, the brake mode includes only an engine brake in which engine exhaust valve opening is adjusted for reducing the current speed. The threshold determined in part based on the available engine brake torque, gear position of the transmission, and the online estimated vehicle longitudinal dynamic model. In case the rate of speed reduction is greater than the threshold, the brake mode incudes a combination of the engine brake and the foundation brake.