Desenvolvimento de uma plataforma para competição automotiva autônoma - PCAA

Abstract

In this work is developed a vehicle that will have sensors and control subsystems that will control the vehicle and generate data recurrent to its current state in order to make it autonomous. In order to access this data, a request is made via I2C with the L3 protocol to the vehicle by the external microcontroller, so that the required data is transmitted back to the external controller. For this communication between the vehicle and external control, the telemetry system is used to obtain this data from the vehicle. For this, the L3 protocol that acts in the application layer will be used, and the I2C protocol for the communication in the physical layer. The internal information exchange in the vast majority of conventional vehicles occurs through the CAN communication protocol, since it consists of a robust and high reliability system. Based on this protocol, a communication protocol called Devices Communication Protocol (DCP) is being developed in the LMI, which consists in the use of only one wire for data transmission, which will serve the purposes of the work. The vehicle will follow a path represented by a lane. It will have symbols that will serve to indicate positioning and to report signs to be followed. This work showed that the vehicle responds well to requests with the DCP, L3 and I2C protocols, and can be managed satisfactorily among the protocols.