In a regulatory filing, Uber said it will list its shares on the New York Stock Exchange under the symbol "UBER".
Uber plans to sell around $US10 billion worth of stock at a valuation of between $US90 billion and $100 billion.
After making the public filing, Uber will begin its investor roadshow presentations from April 29.
"If we are unable to compete effectively in these industries, our business and financial prospects would be adversely impacted", the company's filing said.
Uber also engages in some sleight of hand about the ties connecting all its businesses.
Uber's filing reveals that Uber had an average of 91 million monthly active users on its platform at the end of 2018. Investment bankers had previously told Uber it could be worth as much as $120 billion. Excluding those gains, plus other items, Uber lost US$1.8 billion for the year.
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Uber's revenue growth looks impressive - it rose from $3.8bn in 2016 to $11.3bn in 2018.
Paying drivers is a huge expense, and Uber's fierce competition with Lyft for customers has led both companies to offer rides below cost.
Waymo, in its lawsuit, had said one of its former engineers who became chief of Uber's self-driving vehicle project took with him thousands of confidential documents.
Launched in 2009 after its founders struggled to get a cab on a snowy night, Uber has changed the way millions of people travel and commute but continues to lose money. Only $165 million in net revenue came from Uber Eats. Lyft's stock debuted last month at $72 per share before quickly dropping below that mark thanks to concerns about the company's future profitability.
Many cities have experienced an explosion in usage of the Uber app, but not everyone has welcomed the invasion, least of all taxi drivers.
Kalanick, 42, holds a roughly 8% stake in Uber and still sits on the company's board of directors.
There's on-demand rides, of course, which Uber disclosed generate about 80 percent of the total value of the company's transactions. That profit was driven primarily by the sales of assets in Southeast Asia and Russian Federation, as well as an increase in the estimated value of its stock in China's largest ride-hailing company, Didi Chuxing.