Helping to build autonomous trucks for mining and construction

Vehicle Controls and Interfaces - Actuators

• Developed Embark’s in-house actuator test benches for ZF ReAX steering gear, Bendix 2C2 brake control valve and Embark Universal Interface ECU (used Vector tools, CAPL, C and Python).

• Developed SocketCAN and pytest scripts for testing actuators (Bendix 2C2 brake valve)

• Collaborated with Cummins to integrate Cummins L4 powertrain control features to Embark’s Autonomous Driving System. Developed a HIL bench for feature validation with CAN bus redundancy.

• Developed diagnostics tools with Python for importing base-vehicle and embedded system health information from CAN buses to ROS to help triage vehicle interface related issues in the fleet.

• Characterized ZF ReAX steering gear actuator behavior in AV trucks and developed calibration process based on truck’s lateral control model. Achieved accurate lateral movement in autonomous driving.

• Developed a path planning and control algorithm for autonomous vehicles

• Designed an MPC with a combined longitudinal and lateral control model considering nonlinearities