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公开(公告)号：US20240265710A1
公开(公告)日：2024-08-08
申请号：US18475647
申请日：2023-09-27
申请人： TuSimple, Inc.
发明人： Zhe CHEN , Yizhe ZHAO , Lingting GE , Panqu WANG
CPC分类号： G06V20/58 , B60W60/001 , G06T7/248 , G06T7/74 , G06V10/776 , G06V10/87 , B60W2420/403 , B60W2552/15 , B60W2556/40 , B60W2720/10 , G06T2207/30252
摘要： The present disclosure provides methods and systems for operating an autonomous vehicle. In some embodiments, the system may obtain, by a camera associated with an autonomous vehicle, an image of an environment of the autonomous vehicle, the environment including a road on which the autonomous vehicle is operating and an occlusion on the road. The system may identify the occlusion in the image based on map information of the environment and at least one camera parameter of the camera for obtaining the image. The system may identify an object represented in the image, and determine a confidence score relating to the object. The confidence score may indicate a likelihood a representation of the object in the image is impacted by the occlusion. The system may determine an operation algorithm based on the confidence score; and cause the autonomous vehicle to operate based on the operation algorithm.
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公开(公告)号：US20230184931A1
公开(公告)日：2023-06-15
申请号：US17987200
申请日：2022-11-15
申请人： TuSimple, Inc.
发明人： Panqu WANG , Lingting GE
IPC分类号： G01S13/931 , G01S13/89 , G01S17/931 , G01S17/89 , G01S13/86
CPC分类号： G01S13/931 , G01S13/89 , G01S17/931 , G01S17/89 , G01S13/865
摘要： Vehicles can include systems and apparatus for performing signal processing on sensor data from radar(s) and LiDAR(s) located on the vehicles. A method includes obtaining and filtering radar point cloud data of an area in an environment in which a vehicle is operating on a road to obtain filtered radar point cloud data; obtaining a light detection and ranging point cloud data of at least some of the area, where the light detection and ranging point cloud data include information about a bounding box that surrounds an object on the road; determining a set of radar point cloud data that are associated with the bounding box that surrounds the object; and causing the vehicle to operate based on one or more characteristics of the object determined from the set of radar point cloud data.
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公开(公告)号：US20190266420A1
公开(公告)日：2019-08-29
申请号：US15906561
申请日：2018-02-27
申请人： TuSimple
发明人： Lingting GE , Pengfei CHEN , Panqu WANG
摘要： A system and method for online real-time multi-object tracking is disclosed. A particular embodiment can be configured to: receive image frame data from at least one camera associated with an autonomous vehicle; generate similarity data corresponding to a similarity between object data in a previous image frame compared with object detection results from a current image frame; use the similarity data to generate data association results corresponding to a best matching between the object data in the previous image frame and the object detection results from the current image frame; cause state transitions in finite state machines for each object according to the data association results; and provide as an output object tracking output data corresponding to the states of the finite state machines for each object.
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公开(公告)号：US20210405185A1
公开(公告)日：2021-12-30
申请号：US17344534
申请日：2021-06-10
申请人： TuSimple, Inc.
发明人： Charles A. PRICE , Xiaoling HAN , Lingting GE , Zehua HUANG , Panqu WANG , Chiyu ZHANG , Joshua Miguel RODRIGUEZ , Junjun XIN
IPC分类号： G01S13/931 , G05D1/02 , B60R11/02 , G01S13/86
摘要： A system and method providing truck-mounted sensors to detect trailer following vehicles and trailer conditions are disclosed. A system of an example embodiment comprises: a vehicle control subsystem installed in an autonomous truck, the vehicle control subsystem comprising a data processor; and a truck-mounted sensor subsystem installed on a portion of a tractor of the autonomous truck to which a trailer is attachable, the truck-mounted sensor subsystem being coupled to the vehicle control subsystem via a data connection, wherein the truck-mounted sensor subsystem is configured to emit electromagnetic waves propagating in a space under the trailer, to generate object data representing objects detected by receiving a reflection of the electromagnetic waves, and to transfer the object data to the vehicle control subsystem.
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公开(公告)号：US20210398310A1
公开(公告)日：2021-12-23
申请号：US16909987
申请日：2020-06-23
申请人： TUSIMPLE, INC.
发明人： Lingting GE , Siyuan LIU , Zehua HUANG , Yijie WANG
摘要： Image processing techniques are described to receive bounding box information that describes a bounding box located around a detected obj ect in an image, determine one or more positions of one or more reference points on the bounding box, determine, for each reference point, 3D world coordinates of a point of intersection of the reference point and the road surface, and assign the 3D world coordinates of the one or more reference points to a location of the detected object.
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公开(公告)号：US20210397867A1
公开(公告)日：2021-12-23
申请号：US16909962
申请日：2020-06-23
申请人： TUSIMPLE, INC.
发明人： Lingting GE , Siyuan LIU , Chenzhe QIAN , Yijie WANG , Zehua HUANG , Xiaodi HOU
摘要： 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.
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公开(公告)号：US20210125370A1
公开(公告)日：2021-04-29
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
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.
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公开(公告)号：US20190286916A1
公开(公告)日：2019-09-19
申请号：US15924249
申请日：2018-03-18
申请人： TuSimple
发明人： Zhipeng YAN , Lingting GE , Pengfei CHEN , Panqu WANG
摘要： A system and method for lateral vehicle detection is disclosed. A particular embodiment can be configured to: receive lateral image data from at least one laterally-facing camera associated with an autonomous vehicle; warp the lateral image data based on a line parallel to a side of the autonomous vehicle; perform object extraction on the warped lateral image data to identify extracted objects in the warped lateral image data; and apply bounding boxes around the extracted objects.
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公开(公告)号：US20240203135A1
公开(公告)日：2024-06-20
申请号：US18474812
申请日：2023-09-26
申请人： TuSimple, Inc.
发明人： Yizhe ZHAO , Lingting GE , Panqu WANG
CPC分类号： G06V20/588 , B60W60/001 , G06T7/12 , G06T7/74 , G06T15/00 , G06V20/70 , G08G1/167 , B60W2420/42 , B60W2520/10 , B60W2552/10 , B60W2552/15 , B60W2555/60 , B60W2556/40 , B60W2710/18 , B60W2710/20 , G06T2207/30256
摘要： Techniques are described for autonomous driving operation that includes receiving, by a computer located in a vehicle, an image from a camera located on the vehicle while the vehicle is operating on a road, wherein the image includes a plurality of lanes of the road; for each of the plurality of lanes: obtaining, from a map database stored in the computer, a set of values that describe locations of boundaries of a lane; dividing the lane into a plurality of polygons; rendering the plurality of polygons onto the image; and determining identifiers of lane segments of the lane; determining one or more characteristics of a lane segment on which the vehicle is operating based on an identifier of the lane segment; and causing the vehicle to perform a driving related operation in response to the one or more characteristics of the lane segment on which the vehicle is operating.
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公开(公告)号：US20230326168A1
公开(公告)日：2023-10-12
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
CPC分类号： G06V10/25 , G06T7/11 , G06T7/70 , G06T11/20 , B60W60/0025 , G06V20/584 , G06V20/58 , G06V10/82 , B60W2554/00 , G06T2207/20132 , G06T2210/12 , G06T2207/30252 , G06T2207/30236 , B60W2420/42
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.
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