.EMOTH.Drivers.CruiseControl

Information

Gets information from the driver interface:

• reference speed
• preview of reference speed (the preview time is communicated via the driver interface to the driving cycle.
• actual speed
• actual acceleration

A PI-controller reacts on the control error = vRef(t + tPreview) - ( v(t) + a(t)*tPreview ). This signal is split into the throttle and the brake signal.