BATUHAN DEVRIM

VURAN – Autonomous Military Vehicle (Demo Platform)

• Architected and implemented low-level longitudinal and lateral control systems for a 50 km/h autonomous military vehicle.
• Deployed production-grade PID controllers running at 10 ms control cycles directly on vehicle ECUs.
• Designed separate throttle and brake control loops, handling physical actuator constraints.
• Leading development of cascade PID architectures to improve stability and performance under real-world disturbances.
• Executed on-vehicle testing, calibration, and validation on a demo platform under operational constraints.

Simulation-to-Real Control Architecture (CARLA)

• Developed a control architecture where the same ECU-hosted Simulink model drives both real and simulated vehicles via CAN and CARLA.
• Achieved behavioral parity between simulation and real vehicle, enabling SIL-style validation workflows.
• Preparing the system for HIL deployment.

ROS 2 – CAN Infrastructure

• Developed custom ROS 2 to CAN / CAN to ROS 2 packages in a Docker environment.
• Mapped high-level planning outputs to low-level CAN actuator commands.
• Defined custom ROS 2 message types aligned with CAN signal definitions.
• Enabled bidirectional data flow between autonomy stack and vehicle hardware.

ADAS Bus Project (10.6 m Platform)

• Contributed to Low Level Vehicle Control
• Supported sensor integration and cross-domain debugging across perception and control layers.