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This repository was archived by the owner on Oct 6, 2025. It is now read-only.

Architecture

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Luis Filipe Carvalho edited this page Aug 18, 2025 · 3 revisions
  • IPC: Zenoh pub/sub; Middleware bridges CAN ↔ Zenoh.
  • Executables:
    • Vehicle System (vehicle state + actuation)
    • Middleware (CAN bridge)
    • Combined Controller (manual + PID/MPC + Speed PID)
    • Detection (lanes, objects, signs/lights)
  • Controllers switch inputs based on mode (manual vs autonomous).
  • Diagram: see docs/architecture.png

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