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：US11912310B2

公开(公告)日：2024-02-27

申请号：US17359007

申请日：2021-06-25

申请人： TUSIMPLE, INC.

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

IPC分类号： B60W60/00 ,  G08G1/16 ,  G06T7/73 ,  G06T7/62 ,  G06T3/40 ,  G06V20/58

CPC分类号： B60W60/0027 ,  G06T3/40 ,  G06T7/62 ,  G06T7/73 ,  G06V20/58 ,  G08G1/165 ,  G08G1/166 ,  B60W2420/42 ,  B60W2554/20 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/4044 ,  G06T2207/30261

摘要： A method includes receiving a series of road images from a side-view camera sensor of the autonomous driving vehicle. For each object from objects captured in the series of road images, a series of bounding boxes in the series of road images is generated, and a direction of travel or stationarity of the object is determined. The methods and apparatus also include determining a speed of each object for which the direction of travel has been determined and determining, based on the directions of travel, speeds, or stationarity of the objects, whether the autonomous driving vehicle can safely move in a predetermined direction. Furthermore, one or more control signals is sent to the autonomous driving vehicle to cause the autonomous driving vehicle to move or to remain stationary based on determining whether the autonomous driving vehicle can safely move in the predetermined direction.

公开(公告)号：US11189051B2

公开(公告)日：2021-11-30

申请号：US16663242

申请日：2019-10-24

申请人： TUSIMPLE, INC.

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

IPC分类号： G06T7/73 ,  G06T7/33

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：US11721038B2

公开(公告)日：2023-08-08

申请号：US17531447

申请日：2021-11-19

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：US11718311B2

公开(公告)日：2023-08-08

申请号：US16813180

申请日：2020-03-09

申请人： TUSIMPLE, INC.

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

IPC分类号： G06T7/73 ,  G01S17/931 ,  B60W10/20 ,  G01S7/00 ,  G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  B60W50/14 ,  G06V10/774 ,  G06V10/776 ,  G06V10/80 ,  G06V20/56 ,  G06V20/64

CPC分类号： B60W50/14 ,  B60W10/20 ,  G01S7/003 ,  G01S17/89 ,  G01S17/931 ,  G05D1/0094 ,  G05D1/0248 ,  G06T7/74 ,  G06V10/774 ,  G06V10/776 ,  G06V10/806 ,  G06V20/56 ,  G06V20/647 ,  B60W2420/42 ,  B60W2420/52 ,  G06T2207/30244 ,  G06T2210/12

摘要： Disclosed are methods and devices related to autonomous driving. In one aspect, a method is disclosed. The method includes determining three-dimensional bounding indicators for one or more first objects in road target information captured by a light detection and ranging (LIDAR) sensor; determining camera bounding indicators for one or more second objects in road image information captured by a camera sensor; processing the road image information to generate a camera matrix; determining projected bounding indicators from the camera matrix and the three-dimensional bounding indicators; determining, from the projected bounding indicators and the camera bounding indicators, associations between the one or more first objects and the one or more second objects to generate combined target information; and applying, by the autonomous driving system, the combined target information to produce a vehicle control signal.