Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
AUTONOMOUS VEHICLE SENSORING USING LOW LEVEL CAN-BUS AND STM32 MICROCONTROLLER
Submission Author:
Bruno Silva de Lima , MG
Co-Authors:
Rafael Silva de Lima, Sandro Izidoro, Willian Gomes de Almeida, Giovani Bernardes, Bruno Silva de Lima
Presenter: Bruno Silva de Lima
doi://10.26678/ABCM.COBEM2019.COB2019-0664
Abstract
In any modern engineering project, it is of utmost importance to know how a process is working, mostly done by installing a variety of sensors. When developing an autonomous vehicle, these sensors are responsible for collecting and feed the other systems with data. This paper presents the configuration used to install distance sensors in an autonomous vehicle and integrate these in a low level CAN bus (Controller Area Network bus) using a STM32 microcontroller. This network have one node connecting to ROS (Robot Operating System), where the data is processed and used in a variety of other high level nodes. The main objective is to have a good processing time with the STM32 and to retrieve the data with minimum errors on the CAN bus-ROS connecting node and use it to execute diverse functions on the car.
Keywords
autonomous vehicle, distance sensor, CAN bus, ROS, microcontroller
