Patents Assigned to TUSIMPLE
  • System and method for determining car to lane distance
    Patent number: 11227500
    Abstract: A system and method for determining car to lane distance is provided. In one aspect, the system includes a camera configured to generate an image, a processor, and a computer-readable memory. The processor is configured to receive the image from the camera, generate a wheel segmentation map representative of one or more wheels detected in the image, and generate a lane segmentation map representative of one or more lanes detected in the image. For at least one of the wheels in the wheel segmentation map, the processor is also configured to determine a distance between the wheel and at least one nearby lane in the lane segmentation map. The processor is further configured to determine a distance between a vehicle in the image and the lane based on the distance between the wheel and the lane.
    Type: Grant
    Filed: February 4, 2020
    Date of Patent: January 18, 2022
    Assignee: TUSIMPLE, INC.
    Inventor: Panqu Wang
  • Hybrid simulation system for autonomous vehicles
    Patent number: 11208113
    Abstract: Techniques are disclosed for performing hybrid simulation operations with an autonomous vehicle. A method of testing autonomous vehicle operations includes receiving, by a computer, a pre-configured scenario that includes one or more simulation parameters and one or more initial condition parameters, sending, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at an operative condition, and in response to determining that the autonomous vehicle is operating at the operative condition, performing a simulation with the one or more simulated objects and the autonomous vehicle to test a response of the autonomous vehicle.
    Type: Grant
    Filed: May 31, 2019
    Date of Patent: December 28, 2021
    Assignee: TUSIMPLE, INC.
    Inventor: Yixin Yang
  • Integrated multi-purpose perception housing
    Patent number: 11203305
    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: May 8, 2019
    Date of Patent: December 21, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Qiwei Li, Todd Skinner, Yishi Liu
  • Systems and methods for detecting trailer angle
    Patent number: 11200430
    Abstract: Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further 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 the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: December 14, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Yi Luo, Xiaoling Han, Xue Mei
  • Smoothness constraint for camera pose estimation
    Patent number: 11195300
    Abstract: Disclosed are devices, systems and methods for incorporating a smoothness constraint for camera pose estimation. One method for robust camera pose estimation includes determining a first bounding box based on a previous frame, determining a second bounding box based on a current frame that is temporally subsequent to the previous frame, estimating the camera pose by minimizing a weighted sum of a camera pose function and a constraint function, where the camera pose function tracks a position and an orientation of the camera in time, and where the constraint function is based on coordinates of the first bounding box and coordinates of the second bounding box, and using the camera pose for navigating the vehicle. The method may further include generating an initial estimate of the camera pose is based on a Global Positioning System (GPS) sensor or an Inertial Measurement Unit (IMU).
    Type: Grant
    Filed: December 17, 2019
    Date of Patent: December 7, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Xiaodi Hou, Xue Mei
  • Camera orientation estimation
    Patent number: 11189051
    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.
    Type: Grant
    Filed: October 24, 2019
    Date of Patent: November 30, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Yijie Wang, Lingting Ge, Yiqian Gan, Xiaodi Hou
  • Auditory assistant module for autonomous vehicles
    Patent number: 11167775
    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.
    Type: Grant
    Filed: April 21, 2020
    Date of Patent: November 9, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Cheng Zhang, Xiaodi Hou, Sven Kratz
  • Method and system for map construction
    Patent number: 11170230
    Abstract: A method of retrieving a map is disclosed. The method includes receiving a grid data of the map comprising lane segments, wherein the grid data includes an array of grids each associated with a list including none or at least one of the lane segments intersecting the respective grid; receiving coordinates of a location; identifying a first grid including the location based on the grid data; identifying a target grid that has an associated list including at least one of the lane segments as first lane segment; and outputting the first lane segment.
    Type: Grant
    Filed: February 26, 2019
    Date of Patent: November 9, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Minhao Jiang, Hsin Lu, Genmao Shi, Ziqi Liu
  • Operational testing of autonomous vehicles
    Patent number: 11169513
    Abstract: Disclosed are devices, systems and methods for the operational testing on autonomous vehicles. One exemplary method includes configuring a primary vehicular model with an algorithm, calculating one or more trajectories for each of one or more secondary vehicular models that exclude the algorithm, configuring the one or more secondary vehicular models with a corresponding trajectory of the one or more trajectories, generating an updated algorithm based on running a simulation of the primary vehicular model interacting with the one or more secondary vehicular models that conform to the corresponding trajectory in the simulation, and integrating the updated algorithm into an algorithmic unit of the autonomous vehicle.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: November 9, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Zehua Huang, Yixin Yang
  • Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment
    Patent number: 11158088
    Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: disposing a planar pattern that is viewable to a set of cameras; recovering boundary corner points of the planar pattern from a pair of images; constructing a pair of parallel lines based on 2D positions of the recovered boundary corner points; and determining an intersection point of the pair of parallel lines to be a vanishing point in a pixel coordinate.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: October 26, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Bolun Zhang, Yi Wang, Ke Xu
  • Feature matching and corresponding refinement and 3D submap position refinement system and method for centimeter precision localization using camera-based submap and LiDAR-based global map
    Patent number: 11151393
    Abstract: A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
    Type: Grant
    Filed: February 14, 2020
    Date of Patent: October 19, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Yi Luo, Yi Wang, Ke Xu
  • METHOD, SYSTEM AND RELATED DEVICE OF IMPLEMENTING VEHICLE AUTOMATICALLY WEIGHING
    Publication number: 20210294344
    Abstract: The application discloses a method, system and related device of implementing vehicle automatically weighing, so as to achieve the automatically weighing of the unmanned vehicle. The method includes: controlling, by a vehicle controller, a vehicle to drive automatically and stop at a weighing position; weighing, by a weighbridge sensor, the vehicle when sensing the vehicle stopping at the weighing position, and sending weighing end information to the vehicle controller; and controlling, by the vehicle controller, the vehicle to start and leave the weighing position when receiving the weighing end information.
    Type: Application
    Filed: June 7, 2021
    Publication date: September 23, 2021
    Applicant: TUSIMPLE, INC.
    Inventor: Nan WU
  • System and method for proximate vehicle intention prediction for autonomous vehicles
    Patent number: 11104334
    Abstract: A system and method for proximate vehicle intention prediction for autonomous vehicles are disclosed. A particular embodiment is configured to: receive perception data associated with a host vehicle; extract features from the perception data to detect a proximate vehicle in the vicinity of the host vehicle; generate a trajectory of the detected proximate vehicle based on the perception data; use a trained intention prediction model to generate a predicted intention of the detected proximate vehicle based on the perception data and the trajectory of the detected proximate vehicle; use the predicted intention of the detected proximate vehicle to generate a predicted trajectory of the detected proximate vehicle; and output the predicted intention and predicted trajectory for the detected proximate vehicle to another subsystem.
    Type: Grant
    Filed: May 31, 2018
    Date of Patent: August 31, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Zhipeng Yan, Mingdong Wang, Siyuan Liu, Xiaodi Hou
  • Emergency braking system, emergency braking method and semitrailer
    Patent number: 11104333
    Abstract: The present disclosure provides an emergency braking system, an emergency braking method and a semitrailer, capable of improving the braking effect of the vehicle, thereby achieving improved safety for the vehicle. The system includes: a sensor component configured to collect sensed information on an environment where a semitrailer is located; and a braking controller configured to determine whether there is a risk of collision for the semitrailer based on the sensed information, and if so, calculate a maximum adhesive force that can be provided by a road surface the semitrailer is currently on, determine a first braking pressure corresponding to each wheel based on the maximum adhesive force and axle load information, and transmit to a braking system a first braking instruction carrying the first braking pressure for each wheel.
    Type: Grant
    Filed: March 19, 2019
    Date of Patent: August 31, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Junfeng Li, Nan Wu
  • Method and apparatus for object re-identification
    Patent number: 11093789
    Abstract: The present disclosure provides a method and an apparatus for object re-identification, capable of solving the problem in the related art associated with inefficiency and low accuracy of object re-identification based on multiple frames of images.
    Type: Grant
    Filed: February 12, 2019
    Date of Patent: August 17, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Naiyan Wang, Jianfu Zhang
  • Method, device and system for vehicle positioning
    Patent number: 11094201
    Abstract: The present disclosure provides a system, a method and an apparatus for vehicle positioning. The method includes: acquiring positioning information pre-stored in a roadside device while a vehicle is moving, the positioning information including direction information and/or position information associated with a position of the roadside device; determining a current position of the vehicle based on position information determined by a vehicle-mounted positioning device and the positioning information acquired from the roadside device.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: August 17, 2021
    Assignee: TUSIMPLE, INC.
    Inventor: Nan Wu
  • Corner point extraction system and method for image guided stereo camera optical axes alignment
    Patent number: 11089288
    Abstract: A method of aligning optical axes of cameras for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images using the following steps comprising: calibrating intrinsic parameters of a set of cameras; extracting corner points associated with a pattern; and computing a vanishing point based on information on the extracted corner points.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: August 10, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Bolun Zhang, Yi Wang, Ke Xu
  • Method, device and system for automatically fueling vehicle
    Patent number: 11084709
    Abstract: The present application provides a method, device and system for automatically fueling a vehicle. The method includes: judging, by a fueling control device of the vehicle, whether the vehicle needs to be filled with fuel; obtaining driving route information and vehicle status information of the vehicle in the case of determining that the vehicle needs to be filled with fuel; determining fuel amount to be filled according to the driving route information and the vehicle status information of the vehicle; sending a fueling request to a fueling management system; receiving a feedback message from the fueling management system, wherein the feedback message includes position information of a fueling device; and prompting the vehicle to obtain fuel offered by the fueling device indicated by the position information of the fueling device according to the fuel amount to be filled.
    Type: Grant
    Filed: July 15, 2018
    Date of Patent: August 10, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Nan Wu, He Zheng
  • Camera cover
    Patent number: D928214
    Type: Grant
    Filed: September 4, 2020
    Date of Patent: August 17, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Xin Hou, Jie Sun
  • Holder for multiple cameras
    Patent number: D929487
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: August 31, 2021
    Assignee: TUSIMPLE, INC.
    Inventor: Zhihua Ma