Class CruiseControlModule

Holds a target speed with a PID controller on throttle, and on the brakes when applyBrakesWhenSpeeding is set. Forward motion only: it disengages when the vehicle stops or reverses, when the brake is pressed with deactivateOnBrake set, or on the cruise input.

Inheritance
object
VehicleComponent
CruiseControlModule
Inherited Members
Namespace: NWH.VehiclePhysics2.Modules.CruiseControl
Assembly: NWH.VehiclePhysics2.dll
Syntax
[Serializable]
public class CruiseControlModule : VehicleComponent

Fields

Kd

Derivative gain. Damps rapid error changes and so limits overshoot. Usable range 0.05 to 0.3; higher is more stable but slower to respond.

Declaration
[Tooltip("Derivative gain of PID controller.")]
public float Kd
Field Value
Type Description
float

Ki

Integral gain. Removes the steady-state offset, so raise it if speed settles off the target. Usable range 0.1 to 0.5; too high oscillates.

Declaration
[Tooltip("Integral gain of PID controller.")]
public float Ki
Field Value
Type Description
float

Kp

Proportional gain, the main response to speed error. Usable range 0.3 to 1.0; higher matches the target faster but starts hunting.

Declaration
[Tooltip("Proportional gain of PID controller.")]
public float Kp
Field Value
Type Description
float

applyBrakesWhenSpeeding

Lets cruise control brake when over the target speed. Off, it can only lift the throttle, so speed still builds on a descent.

Declaration
[Tooltip("If true brakes will be applied when speeding.")]
public bool applyBrakesWhenSpeeding
Field Value
Type Description
bool

cruiseControlActive

True while cruise control is holding speed. Engagement normally runs off the cruise input; writing this field directly skips the target speed capture and the PID error seed, so set targetSpeed yourself on that path.

Declaration
[Tooltip("Is the cruise control currently active and trying to hold the vehicle speed?")]
public bool cruiseControlActive
Field Value
Type Description
bool

deactivateOnBrake

Disengages cruise control as soon as the brakes are applied.

Declaration
[Tooltip("If true cruise control will be disabled if brakes are activated.")]
public bool deactivateOnBrake
Field Value
Type Description
bool

setTargetSpeedOnEnable

Captures the current speed as the target when cruise control engages through the cruise input. Leave off to hold a previously set target speed; a non-positive target is captured either way.

Declaration
[Tooltip("Should the speed be captured automatically when cruise control is engaged?")]
public bool setTargetSpeedOnEnable
Field Value
Type Description
bool

targetSpeed

Speed to hold, in m/s. Captured on engage or set manually. Roughly 10 to 20 m/s in town, 25 to 35 m/s on a highway.

Declaration
[Tooltip("The speed the vehicle will try to hold.")]
public float targetSpeed
Field Value
Type Description
float

Methods

VC_Disable(bool)

Disables the cruise control module and unregisters input callbacks.

Declaration
public override bool VC_Disable(bool calledByParent)
Parameters
Type Name Description
bool calledByParent

Whether this was called by the parent component.
Returns
Type Description
bool

True if successfully disabled.
Overrides

VC_Enable(bool)

Enables the cruise control module and registers input callbacks.

Declaration
public override bool VC_Enable(bool calledByParent)
Parameters
Type Name Description
bool calledByParent

Whether this was called by the parent component.
Returns
Type Description
bool

True if successfully enabled.
Overrides

VC_FixedUpdate(float)

Runs the PID step and handles engage and disengage.

Declaration
public override void VC_FixedUpdate(float DeltaTime)
Parameters
Type Name Description
float DeltaTime

Fixed time step in seconds.
Overrides

See Also