Patents Assigned to TUSIMPLE, INC.
  • Determining an angle between a tow vehicle and a trailer
    Patent number: 11714192
    Abstract: The angle of a trailer with respect to a tow vehicle is an important parameter to the stability of the vehicle and trailer. A tow vehicle pulling a trailer in a straight line is generally more stable than when the vehicle is turning. While turning, the angle between the tow vehicle and the trailer is not a straight line but is another angle depending on how sharply the tow vehicle is turning. To safely operate a vehicle towing a trailer, for a given steering input and speed, there is a maximum angle between the tow vehicle and trailer whereby exceeding the angle causes instability and may cause the trailer or tow vehicle to roll over or jackknife. Accordingly, the angle between the trailer and tow vehicle must be determined to ensure the vehicle and trailer will continue to be in control.
    Type: Grant
    Filed: February 26, 2021
    Date of Patent: August 1, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Xiaoling Han, Charles A. Price, Todd Skinner, Kaixin Zheng
  • Perception system for autonomous vehicles
    Patent number: 11715277
    Abstract: 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.
    Type: Grant
    Filed: June 23, 2020
    Date of Patent: August 1, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Siyuan Liu, Lingting Ge, Chenzhe Qian, Zehua Huang, Xiaodi Hou
  • Temperature management system for autonomous vehicles
    Patent number: 11711906
    Abstract: Techniques are described for managing temperature in an autonomous vehicle. An exemplary method comprises performing autonomous driving operations that operate the autonomous vehicle in an autonomous mode, receiving one or more messages from a temperature sensor associated with an electrical device located on or in the autonomous vehicle while the autonomous vehicle is operated in the autonomous mode, determining a cooling technique to reduce the temperature of electrical device, and performing the cooling technique.
    Type: Grant
    Filed: February 4, 2020
    Date of Patent: July 25, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Kaixin Zheng, Xiaoling Han, Zehua Huang, Todd Skinner
  • Rear-facing perception system for vehicles
    Patent number: 11704909
    Abstract: Devices, systems and methods for operating a rear-facing perception system for vehicles are described. An exemplary rear-facing perception system contains two corner units and a center unit, with each of the two corner units and the center unit including a camera module and a dual-band transceiver. A method for operating the rear-facing perception system includes pairing with a control unit by communicating, using the dual-band transceiver, over at least a first frequency band, transmitting a first trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band, and switching to an active mode. In an example, the first trigger signal causes the two corner units to switch to the active mode, which includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
    Type: Grant
    Filed: May 19, 2021
    Date of Patent: July 18, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Xiaoling Han, Xue Mei
  • Angle and orientation measurements for vehicles with multiple drivable sections
    Patent number: 11701931
    Abstract: Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).
    Type: Grant
    Filed: June 14, 2021
    Date of Patent: July 18, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Mohamed Hassan Ahmed Hassan Wahba, Juexiao Ning, Xiaoling Han
  • Distributed computing systems for autonomous vehicle operations
    Patent number: 11702108
    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.
    Type: Grant
    Filed: September 11, 2020
    Date of Patent: July 18, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Charles A. Price, Zehua Huang, Xiaoling Han, Ruiliang Zhang, Xiaodi Hou
  • Multi-sensor sequential calibration system
    Patent number: 11702089
    Abstract: Techniques for performing a sensor calibration using sequential data is disclosed. An example method includes receiving, from a first camera located on a vehicle, a first image comprising at least a portion of a road comprising lane markers, where the first image is obtained by the camera at a first time; obtaining a calculated value of a position of an inertial measurement (IM) device at the first time; obtaining an optimized first extrinsic matrix of the first camera by adjusting a function of a first actual pixel location of a location of a lane marker in the first image and an expected pixel location of the location of the lane marker; and performing autonomous operation of the vehicle using the optimized first extrinsic matrix of the first camera when the vehicle is operated on another road or at another time.
    Type: Grant
    Filed: January 15, 2021
    Date of Patent: July 18, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Shane David Griffith, Chenghao Gong, Chenzhe Qian
  • Redundant power bridge battery architecture
    Patent number: 11702020
    Abstract: Devices, systems, and methods for constant and reliable power distribution, using a redundant power bridge battery architecture, in autonomous vehicles are described. An example method includes determining that each of a plurality of sensors is operating within in a nominal range for the respective sensor, and distributing, based on the determining, power from at least one alternating current (AC) power source or at least one direct current (DC) power source to at least one power distribution unit (PDU), wherein a first power bridge is coupled to the at least one AC power source and the at least one DC power source and a second power bridge is coupled to the at least one DC power source and the at least one PDU, and wherein the plurality of sensors is used to monitor a health of the vehicle and any single point failure is detectable.
    Type: Grant
    Filed: February 25, 2021
    Date of Patent: July 18, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Esayas Naizghi, Jade E. Day, Jeffrey J. Renn, Jonathan P. Schallert, Venkata Satya R. Kosuru, Qunfang Liao
  • Images for perception modules of autonomous vehicles
    Patent number: 11694308
    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.
    Type: Grant
    Filed: May 5, 2021
    Date of Patent: July 4, 2023
    Assignees: TUSIMPLE, INC., BEIJING TUSEN WEILAI TECHNOLOGY CO., LTD.
    Inventors: Pengfei Chen, Nan Yu, Naiyan Wang, Xiaodi Hou
  • Vehicle powertrain integrated predictive dynamic control for autonomous driving
    Patent number: 11691628
    Abstract: Devices, systems, and methods for integrated predictive dynamic control of a vehicle powertrain in an autonomous vehicle are described. An example method for controlling a vehicle includes generating, based on performing an optimization on a blended smooth wheel domain fuel consumption map subject to a modified torque availability constraint, one or more wheel domain control commands, converting the one or more wheel domain control commands to one or more powertrain-executable engine domain control commands, and transmitting the one or more powertrain-executable engine domain control commands to a powertrain of the vehicle, the powertrain configured to operate a plurality of gears, wherein the one or more powertrain-executable engine domain control commands enable the vehicle to track a reference kinematic trajectory associated with a vehicle speed driving plan within a predetermined tolerance.
    Type: Grant
    Filed: February 1, 2021
    Date of Patent: July 4, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Junbo Jing, Dinghua Li, Arda Kurt, Chasen Sherman
  • Integrated multi-purpose perception housing
    Patent number: 11685321
    Abstract: An integrated housing assembly can be mounted on a roof of a vehicle, such as a semi-trailer truck. The integrated housing assembly includes a main enclosure that includes four sides, a top panel, and a bottom panel. One of the four sides is a front panel that is inclined towards the ground. The main enclosure includes one or more cavities. A front panel of the integrated housing assembly includes one or more openings to allow cameras or sensors to be placed within the one or more cavities and behind the one or more opening. The cameras or sensors cameras can be clamped at a downward angle within multiple lock apparatus. The angled front panel and the inclined cameras or sensors within the lock apparatus allow the cameras or sensors to obtain images or sensor data from one or more regions of interest at some distance from the front of the vehicle.
    Type: Grant
    Filed: December 20, 2021
    Date of Patent: June 27, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Qiwei Li, Todd Skinner, Yishi Liu
  • System and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners
    Patent number: 11681292
    Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: receiving perception data from a plurality of perception data sensors; obtaining configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating a target position and target speed for each of the plurality of simulated dynamic vehicles, the generated target positions and target speeds being based on the perception data and the configuration instructions and data; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated dynamic vehicles from a current position and speed to the corresponding target position and target speed.
    Type: Grant
    Filed: December 4, 2020
    Date of Patent: June 20, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Xingdong Li, Xing Sun, Wutu Lin, Liu Liu
  • System and method for path planning of autonomous vehicles based on gradient
    Patent number: 11673557
    Abstract: A system and method for path planning of autonomous vehicles based on gradient are disclosed. A particular embodiment includes: generating and scoring a first suggested trajectory for an autonomous vehicle; generating a trajectory gradient based on the first suggested trajectory; generating and scoring a second suggested trajectory for the autonomous vehicle, the second suggested trajectory being based on the first suggested trajectory and a human driving model; and outputting the second suggested trajectory if the score corresponding to the second suggested trajectory is within a score differential threshold relative to the score corresponding to the first suggested trajectory.
    Type: Grant
    Filed: June 12, 2020
    Date of Patent: June 13, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Wutu Lin, Xiaodi Hou
  • Autonomous vehicle handling in unusual driving events
    Patent number: 11648961
    Abstract: A method of operating an autonomous vehicle includes detecting, based on an input received from a sensor of an autonomous vehicle that is being navigated by an on-board computer system, an occurrence of a driving event, making a determination by the on-board computer system, upon the detecting the occurrence of the driving event, whether or how to alter the path planned by the on-board computer system according to a set of rules, and performing further navigation of the autonomous vehicle based on the determination until the driving event is resolved. The driving event may include a presence of an object in a shoulder area of the road. The driving event may include accumulation of more than a certain number of vehicles behind the autonomous vehicle. The driving event may include a slow vehicle ahead of the autonomous vehicle. The driving event may include a do-not-change-lane zone is within a threshold.
    Type: Grant
    Filed: November 25, 2020
    Date of Patent: May 16, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Zhujia Shi, Mingdong Wang
  • Road friction estimation techniques
    Patent number: 11639177
    Abstract: Techniques are described for estimating road friction between a road and tires of a vehicle. A method includes receiving, from a temperature sensor on a vehicle, a temperature value that indicates a temperature of an environment in which a vehicle is operated, determining a first range of friction values that quantify a friction between a road and tires of a vehicle based on a function of the temperature value and an extent of precipitation in a region that indicate a hazardous driving condition, obtaining, from the first range of friction values, a value that quantifies the friction between the road and the tires of the vehicle, where the value is obtained based on a driving related behavior of the vehicle, and causing the vehicle to operate on the road based on the value obtained from the first range of friction values.
    Type: Grant
    Filed: September 16, 2020
    Date of Patent: May 2, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Kun Zhang, Xiaoling Han, Weina Mao, Zehua Huang, Charles A. Price
  • Integrated multi-purpose perception housing
    Patent number: 11634088
    Abstract: An integrated housing assembly can be mounted on a roof of a vehicle, such as a semi-trailer truck. The integrated housing assembly includes a main enclosure that includes four sides, a top panel, and a bottom panel. One of the four sides is a front panel that is inclined towards the ground. The main enclosure includes one or more cavities. A front panel of the integrated housing assembly includes one or more openings to allow cameras or sensors to be placed within the one or more cavities and behind the one or more opening. The cameras or sensors cameras can be clamped at a downward angle within multiple lock apparatus. The angled front panel and the inclined cameras or sensors within the lock apparatus allow the cameras or sensors to obtain images or sensor data from one or more regions of interest at some distance from the front of the vehicle.
    Type: Grant
    Filed: December 20, 2021
    Date of Patent: April 25, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Qiwei Li, Todd Skinner, Yishi Liu
  • Lidar mirror sensor assembly
    Patent number: 11634079
    Abstract: Disclosed are devices, systems, and methods for a LiDAR mirror assembly mounted on a vehicle, such as an autonomous or semi-autonomous vehicle. For example, a LiDAR mirror assembly may include a base plate mounted on a hood of a vehicle, where the base plate is coupled to one end of a support arm. The opposite end of the support arm is attached to a housing. The housing includes a top housing enclosure coupled to a bottom housing platform, where a sensor and a mirror is coupled to the housing, and where the sensor is at least partially exposed through an opening in the top housing enclosure. The opening for the sensor is situated near an end of the housing furthest away from the base plate.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: April 25, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Juexiao Ning, Todd Skinner, Jeffrey Renn
  • Optimal path library for local path planning of an autonomous vehicle
    Patent number: 11619943
    Abstract: Methods, systems and apparatus for autonomous vehicle path planning and path navigation are described. One example system includes an offline server configured to generate a library of optimal paths for navigating a geographic area, wherein the geographic area is represented as a grid node map and an orientation grid bin map and wherein the optimal paths correspond to paths between pairs of grid node pairs in the grid node map based on optimization criteria, a storage device on the autonomous vehicle for storing the library of optimal paths, and an online server located on the autonomous vehicle configured to access information from the library of optimal paths from the storage device based on a current position and a current heading of the autonomous vehicle, and navigating the autonomous vehicle through the geographic area based on the information.
    Type: Grant
    Filed: March 20, 2020
    Date of Patent: April 4, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Junbo Jing, Arda Kurt, Tianqu Shao, Chasen Sherman, Xing Sun
  • Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving
    Patent number: 11619950
    Abstract: Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving are disclosed. In one aspect, a control system for an autonomous vehicle includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a 3D map including a plurality of objects, determine a base point in the 3D map, shift the objects in the 3D map based on the base point, project the objects in the shifted 3D map to a 2D map, and output the 2D map.
    Type: Grant
    Filed: June 30, 2020
    Date of Patent: April 4, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Minhao Jiang, Genmao Shi, Hsin Lu, Ziqi Liu
  • Launchpad for autonomous vehicles
    Patent number: 11613381
    Abstract: A launchpad is sized and shaped to accommodate an autonomous vehicle (AV) that includes at least one vehicle sensor. The launchpad includes one or more launchpad sensors located on or around the launchpad. A control subsystem receives launchpad sensor data from the launchpad sensor(s) and AV sensor data from the vehicle sensor(s). In response to the request for departure of the AV, the control subsystem determines, based at least in part upon the launchpad sensor data, whether the launchpad is free of obstructions that would prevent departure from the launchpad and determines, based at least in part upon the AV sensor data, whether the region in front of the AV is clear of obstructions that would prevent movement away from the launchpad. If both the launchpad and the region in front of the AV are free of obstructions, the AV is permitted to begin driving autonomously.
    Type: Grant
    Filed: August 14, 2020
    Date of Patent: March 28, 2023
    Assignee: TUSIMPLE, INC.
    Inventors: Jason Robert Lau, Leon Moore White, III