US 12,242,967 B2
System and method for instance-level lane detection for autonomous vehicle control
Tian Li, San Diego, CA (US); Panqu Wang, San Diego, CA (US); and Pengfei Chen, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Dec. 12, 2023, as Appl. No. 18/536,677.
Application 18/536,677 is a continuation of application No. 17/214,828, filed on Mar. 27, 2021, granted, now 11,853,883.
Application 17/214,828 is a continuation of application No. 15/959,167, filed on Apr. 20, 2018, granted, now 10,970,564, issued on Apr. 6, 2021.
Application 15/959,167 is a continuation in part of application No. 15/721,797, filed on Sep. 30, 2017, granted, now 10,962,979, issued on Mar. 30, 2021.
Prior Publication US 2024/0104382 A1, Mar. 28, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06N 3/00 (2023.01); G06F 18/21 (2023.01); G06F 18/214 (2023.01); G06F 18/2413 (2023.01); G06N 3/045 (2023.01); G06N 3/08 (2023.01); G06N 20/00 (2019.01); G06V 10/44 (2022.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01)
CPC G06N 3/08 (2013.01) [G06F 18/214 (2023.01); G06F 18/2178 (2023.01); G06F 18/24143 (2023.01); G06N 3/045 (2023.01); G06N 20/00 (2019.01); G06V 10/454 (2022.01); G06V 10/764 (2022.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a data processor; and
a memory for storing an autonomous vehicle instance-level roadway feature detection system, executable by the data processor, the autonomous vehicle instance-level roadway feature detection system being configured to:
receive image data from an image data collection system associated with an autonomous vehicle;
extract roadway features from the image data, causing a plurality of trained tasks to generate instance-level roadway feature detection results based on the image data, the plurality of trained tasks having been individually trained with different features of training image data received from a training image data collection system and corresponding ground truth data, the training image data and the ground truth data comprising data collected from real-world traffic scenarios;
cause the plurality of trained tasks to generate task-specific predictions of feature characteristics based on the image data and to generate corresponding instance-level roadway feature detection results, the instance-level roadway feature detection results including a feature map, which identifies and differentiates each of a plurality of different roadway feature instances present in the image data;
provide the instance-level roadway feature detection results to an autonomous vehicle subsystem of the autonomous vehicle; and
control operation of the autonomous vehicle based on the instance-level roadway feature detection results.