公开(公告)号：US20230408284A1

公开(公告)日：2023-12-21

申请号：US18449340

申请日：2023-08-14

Applicant: TuSimple, Inc.

Inventor： Siyuan LIU ,  Mingdong WANG ,  Xiaodi HOU

IPC: G01C21/36 ,  G06V20/56

CPC classification number: G01C21/3658 ,  G01S17/89 ,  G06V20/588

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

公开(公告)号：US20210397867A1

公开(公告)日：2021-12-23

申请号：US16909962

申请日：2020-06-23

Applicant: TUSIMPLE, INC.

Inventor： Lingting GE ,  Siyuan LIU ,  Chenzhe QIAN ,  Yijie WANG ,  Zehua HUANG ,  Xiaodi HOU

IPC: G06K9/32 ,  G06K9/00 ,  G06T7/11 ,  G06T7/70 ,  G01C21/36 ,  B60W60/00

Abstract: Image processing techniques are described to select and crop a region of interest from an image obtained from a camera located on or in a vehicle, such as an autonomous semi-trailer truck. The region of interest can be identified by selecting one or more reference points and determining one or more positions of the one or more reference points on the image obtained from the camera. As an example, a location of two reference points may be 500 meters and 1000 meters in front of a location of autonomous vehicle, where the front of the autonomous vehicle is an area towards which the autonomous vehicle is being driven.

公开(公告)号：US20210256664A1

公开(公告)日：2021-08-19

申请号：US17308911

申请日：2021-05-05

Applicant: TUSIMPLE, INC.

Inventor： Pengfei CHEN ,  Nan YU ,  Naiyan WANG ,  Xiaodi HOU

IPC: G06T5/00 ,  B60W40/02 ,  H04N9/04

Abstract: Disclosed are devices, systems and methods for processing an image. In one aspect a method includes receiving an image from a sensor array including an x-y array of pixels, each pixel in the x-y array of pixels having a value selected from one of three primary colors, based on a corresponding x-y value in a mask pattern. The method may further include generating a preprocessed image by performing preprocessing on the image. The method may further include performing perception on the preprocessed image to determine one or more outlines of physical objects.

公开(公告)号：US20210125370A1

公开(公告)日：2021-04-29

申请号：US16663242

申请日：2019-10-24

Applicant: TUSIMPLE, INC.

Inventor： Yijie WANG ,  Lingting GE ,  Yiqian GAN ,  Xiaodi HOU

IPC: G06T7/73 ,  G06T7/33

Abstract: 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：US20240233525A1

公开(公告)日：2024-07-11

申请号：US18440908

申请日：2024-02-13

Applicant: TUSIMPLE, INC.

Inventor： Zhujia SHI ,  Charles A. PRICE ,  Zehua HUANG ,  Xiaodi HOU ,  Xiaoling HAN ,  Todd SKINNER

IPC: G08G1/017 ,  B60R11/04 ,  B60R21/0136 ,  G01S17/89 ,  G03B17/56 ,  G05D1/81 ,  G06V20/62

CPC classification number: G08G1/0175 ,  B60R11/04 ,  B60R21/0136 ,  G01S17/89 ,  G03B17/561 ,  G05D1/81 ,  G06V20/625

Abstract: Disclosed are devices, systems and methods for using a rotating camera for vehicular operation. One example of a method for improving driving includes determining, by a processor in the vehicle, that a trigger has activated, orienting, based on the determining, a single rotating camera towards a direction of interest, and activating a recording functionality of the single rotating camera, where the vehicle comprises the single rotating camera and one or more fixed cameras, and where the single rotating camera provides a redundant functionality for, and consumes less power than, the one or more fixed cameras.

公开(公告)号：US20230410363A1

公开(公告)日：2023-12-21

申请号：US18461625

申请日：2023-09-06

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：US20230322263A1

公开(公告)日：2023-10-12

申请号：US18331705

申请日：2023-06-08

Applicant: TUSIMPLE, INC.

Inventor： Charles A. PRICE ,  Zehua HUANG ,  Xiaoling HAN ,  Ruiliang ZHANG ,  Xiaodi HOU

IPC: G08G1/16 ,  B60W60/00 ,  G01C21/00 ,  B60W30/095 ,  G08G1/14

CPC classification number: B60W60/0017 ,  B60W30/0956 ,  B60W60/0027 ,  G01C21/3815 ,  G08G1/143 ,  G08G1/16 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2510/0604 ,  B60W2510/1005 ,  B60W2510/18 ,  B60W2510/20 ,  B60W2554/20 ,  B60W2554/4041 ,  B60W2554/4044

Abstract: Disclosed are distributed computing systems and methods for controlling multiple autonomous control modules and subsystems in an autonomous vehicle. In some aspects of the disclosed technology, a computing architecture for an autonomous vehicle includes distributing the complexity of autonomous vehicle operation, thereby avoiding the use of a single high-performance computing system and enabling off-the-shelf components to be use more readily and reducing system failure rates.

公开(公告)号：US20200242373A1

公开(公告)日：2020-07-30

申请号：US16846205

申请日：2020-04-10

Applicant: TUSIMPLE, INC.

Inventor： Xue Mei ,  Xiaodi HOU ,  Dazhou GUO ,  Yujie WE

IPC: G06K9/00 ,  G06N3/08 ,  G06N3/04 ,  G06T5/50 ,  G01S17/89 ,  G06T7/246 ,  G06T7/10 ,  G01C21/32 ,  G06N3/02 ,  G01S17/42 ,  G07C5/00 ,  B60R11/04

Abstract: A system and method for large-scale lane marking detection using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data; and generating a lane marking map from the set of lane marking points.

公开(公告)号：US20240212363A1

公开(公告)日：2024-06-27

申请号：US18596354

申请日：2024-03-05

Applicant: TuSimple, Inc.

Inventor： Chenyang LI ,  Xiaodi HOU ,  Siyuan LIU

IPC: G06V20/58 ,  G01S7/48 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/16

CPC classification number: G06V20/58 ,  G01S7/4808 ,  G01S17/08 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931 ,  G08G1/166

Abstract: A vehicle position and velocity estimation system based on camera and LIDAR data is disclosed. An embodiment includes: receiving input object data from a subsystem of a vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device, the distance measuring device comprising one or more LIDAR sensors; determining a first position of a proximate object near the vehicle from the image data; determining a second position of the proximate object from the distance data; correlating the first position and the second position by matching the first position of the proximate object detected in the image data with the second position of the same proximate object detected in the distance data; determining a three-dimensional (3D) position of the proximate object using the correlated first and second positions; and using the 3D position of the proximate object to navigate the vehicle.

公开(公告)号：US20230331246A1

公开(公告)日：2023-10-19

申请号：US18339987

申请日：2023-06-22

Applicant: TUSIMPLE, INC.

Inventor： Cheng ZHANG ,  Xiaodi HOU ,  Sven KRATZ

IPC: B60W50/14 ,  B60W40/04 ,  B60W40/08 ,  G05D1/02 ,  H04R5/02

CPC classification number: B60W50/14 ,  B60W40/04 ,  B60W40/08 ,  G05D1/0212 ,  H04R5/02 ,  B60W2555/20 ,  B60W2540/229 ,  B60W2510/18 ,  H04R2499/13

Abstract: Disclosed are devices, systems and methods for an audio assistant in an autonomous or semi-autonomous vehicle. In one aspect the informational audio assistant receives a first set of data from a vehicle sensor and identifies an object or condition using the data from the vehicle sensor. Audio is generated representative of a perceived danger of an object or condition. A second set of data from the vehicle sensor subsystem is received and the informational audio assistant determines whether an increased danger exists based on a comparison of the first set of data to the second set of data. The informational audio assistant will apply a sound profile to the generated audio based on the increased danger.