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The project aims to map the data acquired by the encoder positioned on the steering of the USAD (Urban Shuttles Autonomously Driven) vehicle with the actual angle assumed by the vehicle wheels.

The goal of this work is to find the relationship between the two measures allowing the autonomous driving system to automatically manage the vehicle's steering phases.

Steps:

• Analysis of the encoder characteristics to understand the acquired values.
• Creation and installation of the sensor holder in the steering mechanism.
• The sensor values and the respective steering angles are sampled to find out the relationship between the two measures.
• Once the relationship has been identified, we proceed to the development of a method capable to return the angle of the wheels given the angle of steering.