"Software Engineering Intern - Controls Team"
Uber ATG - Self Driving Trucks (May'18 - August'18)
San Francisco, CA

1. Configuring alert sounds to be played, to caution the vehicle operator while the truck is in autonomy

Concepts/Skills - C++, Embedded Systems, STM32 Microcontroller, Controls, Truck's software architecture, CAN data

Alert sounds are to be played in the trucks when it experiences any of the following situation

1. When the cross track error goes beyond a limit
2. When the vehicle operator has to takeover in case of a forward collision
3. When a pedestrian appears in the frame

2. To compute the torque about the steering wheel of the truck during autonomy

Concepts/Skills - System identification, CANalyzer, MATLAB, Kinematics, Dynamics, Controls, Truck's system architecture, data communication

Plot results were made as Torque vs Wheel angle commands finally after several analysis/calculations of the system dynamics.

RESULTS

1. Plots for Torque vs Steering wheel angle commands relation were made after analyzing and solving the dynamics.
2. The alert sounds were generated, uploaded and were programmed using STM32 microcontroller.
3. Corresponding codes in C++ were implemented and reflected in Master repository of Uber ATG.
4. Updated the firmware, and the alert sounds were uploaded and tested on every self driving truck of Uber ATG across
Michigan, San Francisco and Pittsburgh locations.