# US 12,001,208 B2 · Method and system for modeling autonomous vehicle behavior

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,001,208 B2
- Document ID: US12001208B2
- Status: Granted
- Kind: B2
- Application number: 17/184,438
- Filed: 2021-02-24
- Published: 2021-06-17
- Granted: 2024-06-04
- Earliest claimed: 2017-12-22
- Assignees: Tusimple, Inc.
- Applicants: Tusimple, Inc.
- Inventors: Liu Liu; Che Kun Law; Ke Quan
- Web page: https://patentgrep.com/patent/US12001208B2

## CPC

- G06T 17/05: Geographic models
- B60W 60/001: {Planning or execution of driving tasks}
- G01C 21/3635: {Guidance using 3D or perspective road maps}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G06N 3/08: Learning methods
- G06Q 10/00: Administration; Management
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

The system and method make it feasible to develop an autonomous vehicle control system for complex vehicles, such as for cargo trucks and other large payload vehicles. The method and system commence by first obtaining 3-dimensional data for one or more sections of roadway. Once the 3-dimensional roadway data is obtained, that data is used to run computer simulations of a computer model of a specific vehicle being controlled by a generic vehicle control algorithm or system. The generic vehicle control algorithm is optimized by running the simulations utilizing the 3-dimensional roadway data until an acceptable performance result is achieved. Once an acceptable simulation is executed using the generic vehicle control algorithm, the control algorithm/system is used to run one or more real-world driving tests on the roadway for which the 3-dimensional data was obtained. Finally, the computer model for the vehicle is modified.

## Claims

### Claim 1

A method comprising:
generating map data for a roadway, the map data comprising three-dimensional information;
generating a computer model emulating a vehicle performance;
generating a control system configured to control a vehicle;
executing a simulated driving excursion on a computer utilizing the map data, the computer model, and the control system;
executing a driving test of an actual vehicle in response to the executing the simulated driving excursion; and
revising, in response to test results of the driving test being not acceptable, the computer model without revising the control system.

### Claim 2 (depends on 1)

The method of claim 1 wherein the vehicle controlled by the control system is a passenger vehicle.

### Claim 3 (depends on 1)

The method of claim 1 wherein the vehicle controlled by the control system is a large payload vehicle.

### Claim 4 (depends on 1)

The method of claim 1 wherein the control system is configured to control a passenger vehicle or a large payload vehicle.

### Claim 5 (depends on 1)

The method of claim 1, wherein the control system comprises an initial control algorithm.

### Claim 6 (depends on 5)

The method of claim 5, wherein the initial control algorithm remains unchanged in response to the executing the simulated driving excursion.

### Claim 7 (depends on 1)

The method of claim 1, further comprising:
eliminating noise in the map data by smoothing raw data of the map data.

### Claim 8

A system comprising:
a data processor; and
a memory storing a computer module, executable by the data processor to:
generate map data for a roadway, the map data comprising three-dimensional information;
generate a computer model emulating a vehicle performance;
generate a control system configured to control a vehicle;
execute a simulated driving excursion on a computer utilizing the map data, the computer model, and the control system;
execute a driving test of an actual vehicle in response to the simulated driving excursion being executed; and
revise, in response to test results of the driving test being not acceptable, the computer model without revising the control system.

### Claim 9 (depends on 8)

The system of claim 8, wherein the control system comprises an initial control algorithm.

### Claim 10 (depends on 9)

The system of claim 9, wherein the initial control algorithm remains unchanged in response to the simulated driving excursion being executed.

### Claim 11 (depends on 8)

The system of claim 8, wherein the control system is configured to control a passenger vehicle or a large payload vehicle.

### Claim 12 (depends on 8)

The system of claim 8, wherein the memory storing the computer module, is executable by the data processor further to:
eliminate noise in the map data by smoothing raw data of the map data.

### Claim 13 (depends on 8)

The system of claim 8, wherein the map data is a three-dimensional map (3-D map).

### Claim 14 (depends on 13)

The system of claim 13, wherein the three-dimensional information is in a space constructed by three relatively perpendicular axes.

### Claim 15 (depends on 8)

The system of claim 8, wherein the map data is collected by using a Global Positioning System (GPS) sensor or a Light Detection and Ranging (LiDAR) sensor.

### Claim 16 (depends on 8)

The system of claim 8, wherein the map data comprises roadway shape data, wherein the roadway shape data comprises at slopes, banks, apexes, or dips.

### Claim 17

A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
generate map data for a roadway, the map data comprising three-dimensional information;
generate a computer model emulating a vehicle performance;
generate a control system configured to control a vehicle;
execute a simulated driving excursion on a computer utilizing the map data, the computer model, and the control system;
execute a driving test of an actual vehicle in response to the executing the simulated driving excursion; and
revise, in response to test results of the driving test being not acceptable, the computer model without revising the control system.

### Claim 18 (depends on 17)

The non-transitory machine-useable storage medium of claim 17 wherein the control system comprises a non-vehicle-specific control system.

### Claim 19 (depends on 17)

The non-transitory machine-useable storage medium of claim 17 wherein the three-dimensional information comprises an elevation of the roadway.

### Claim 20 (depends on 17)

The non-transitory machine-useable storage medium of claim 17 wherein the vehicle controlled by the control system is an autonomous semitrailer truck.