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Each command starts from $ and contains a few bytes.
All values are binary, so command $x where x = 96 will look like $a (ascii code of a is 96) but not $96.

This command is being sent to car
$mslh
m main motor. It consists of 8 bits: dbxxxxxx.

• d dirrection. 1 - forward, 0 - backward
• s brake. 1 - enabled, 0 - disabled
• xxxxxx 6 bits indicating throttle level. 0 (000000) - min throttle, 63 - max (111111)

s steering. 0-180 degrees
l light. 0-255
h hash. Special value to ensure data integrity. h=(m+s+l)%256

This command is being recieved from car
$vsd
v voltage of battery. Absolute value depends on voltage divider and equal to v*k, where k is voltage multiplier
s period of wheel turn. It is being used for velocity calculations. (absolute value is not determined yet)
d distance to nearest object in cm
Maybe it makes sense to use hash mechanism also