Arma 3: AICarSteeringComponent

Config

class AICarSteeringComponent
{
    // controls working parameters of steering PID controller (Kp, Ki, Kd)
    steeringPIDWeights[] = { 1.2, 0.1, 0.2 };
    // controls working parameters of speed PID controller (Kp, Ki, Kd)
    speedPIDWeights[] = { 0.7, 0.2, 0.0 };

    // remapping of maxSpeed of vehicle, for fast vehicles we want to lower the used speed
    doRemapSpeed = true;
    remapSpeedRange[] = { 30.0, 70.0 };
    remapSpeedScalar[] = { 1.0, 0.35 };

    // prediction ahead is used for both steering and analysing of shape to modify the speed
    doPredictForward = true;
    predictForwardRange[] = { 1, 20 };
    // steer ahead is a point to steer to, saturated down to given range, in meters
    steerAheadSaturation[] = { 0.01, 0.4 };

    // set method of predicting safe speed

    speedPredictionMethod = 2;
    // 0 - three angles method
    // 1 - wheel direction method
    // 2 - combined method
    // three coef's to determine how much given angle should influence slowing down
    wheelAngleCoef = 0.7;
    forwardAngleCoef = 0.7;
    steeringAngleCoef = 1.0;
    differenceAngleCoef = 1.0;

    // for how long we allow to be not moving, before we consider us stuck
    stuckMaxTime = 3.0;

    // overtaking is part of collision avoidance
    allowOvertaking = true;
    allowCollisionAvoidance = true;
    // allow using movement vector as direction
    allowDrifting = false;

    // parameters of predictionMethod = 1
    maxWheelAngleDiff = 0.2616;
    minSpeedToKeep = 0.1;

    // how strong AI will turn when commanded left/right
    commandTurnFactor = 1.0;
};

Scripting commands

useAISteeringComponent true/false

• enable or disable new ai driving across all vehicles driven locally on the machine.

vehicle forceFollowRoad true/false

• forces AI driver to stick to immediate road, as long as the path is near the road

vehicle setConvoySeparation 20

• sets distance between following vehicles, should be set for all vehicles in convoy with the same value.

vehicle setDriveOnPath [[1000,10,1000],[1100,10,1000]]

• sets a custom path for a vehicle, behaves like Move command but with ability to send path through list of points. Accepts array of arrays (3 or 4 elements). Either (x,y,z) or (x,y,z,wantedSpeed)