TuSimple's AI-based, Level 4 autonomous trucking technology addresses today's greatest industry challenges. Recently, TuSimple successfully drove the world's first fully autonomous semi-truck on public roads completely without human intervention. In this talk, we shall present the latest localization and mapping technologies used in our “driver out” trucks. In particular, we are going to discuss the tightly coupled multi-sensor fusion framework used in our localization module and how it is verified in a simulation environment. In addition, we shall introduce our latest dynamic map layer and how it is updated by a collaborative mapping system across the vehicle fleet. Finally, Diff-Net, an end-to-end network that directly infers the map changes by taking the HD map as an input source will be covered in the end.