see
[url=http://www.receita.fazenda.gov.br/aduana/viajantes/viajantechegbrasilsaber.htm#Ve%C3%ADculos%20%28aut om%C3%B3veis] (portuguese)

"Aliens abroad on temporary travel to Brazil

a) vehicles used exclusively on border traffic by a foreigner residing abroad, is automatically considered under special temporary admission, provided it fulfills the necessary formalities for customs control on the unit customs jurisdiction over the site of entry of vehicles in the country;

b) vehicle for private use, exclusive of foreign tourists residing in Mercosur member country: the country can move freely without the need for any formalities, provided that the driver bearing the documentation required by applicable law to the traveler and the vehicle is carrying goods which, in quantity or characteristic, the person might commercial purpose, or that are inconsistent with the purposes of tourism (see art. 6.759/2009 of Decree 356));

c) Vehicle traveler residing in other countries, whatever the means of transport used, including the traveler himself driving the vehicle, the vehicle subject to the special regime of temporary admission, the time allowed for their stay in Brazil, through the form Simplified Import Declaration (DSI) (Annexes II to IV of SRF Normative Instruction No. 611/06)." - google transl.