Unity Software: Steering Behaviours

    public class SteeringMovement
    {
        Vector3 _velocity;
        Vector3 _acceleration;
        Vector3 _position;
        public Vector3 Target;

        public float ArriveRadius = 3;
        public SteeringMovement(float maxSpeed = 15,float maxForce = 5)
        {
            MaxSpeed = maxSpeed;
            MaxForce = maxForce;
        }

        public float MaxForce { get; set; }
        public float MaxSpeed { get; set; }

        public void UpdateMovement(Transform owner)
        {
            _position = owner.position;
            ApplyForce(Arrive(Target,ArriveRadius));
            UpdateVehicle(Time.deltaTime);
            ApplyToTransform(owner);
            ClearForces();
        }

        void ApplyForce(Vector3 force) => _acceleration += force;

        void ClearForces() => _acceleration = Vector3.zero;

        void UpdateVehicle(float time)
        {
            _position += _velocity * time;
            _velocity += _acceleration;
            ClearForces();
        }

        public void ApplyToTransform(Transform owner)
        {
            owner.position = _position;
            if (_velocity.magnitude < 0.1f) return;

            var desiredRotation = Quaternion.LookRotation(_velocity);
            owner.rotation = Quaternion.Lerp(owner.rotation,desiredRotation,Time.deltaTime*12);
        }


        Vector3 Seek(Vector3 target)
        {
            var desired = target - _position;
            desired.Normalize();
            desired *= MaxSpeed;
            var steeringForce = desired - _velocity;
            return Vector3.ClampMagnitude(steeringForce,MaxForce);
        }

        Vector3 Arrive(Vector3 target,float radius)
        {
            var desired = target - _position;
            var distance = desired.magnitude;
            desired.Normalize();

            var speed = MaxSpeed;
            if (distance < radius)
                speed = map(distance, 0, radius, 0, MaxSpeed);

            desired *= speed;
            var steeringForce = desired - _velocity;
            return Vector3.ClampMagnitude(steeringForce,MaxForce);
        }

        float map(float val, float a1, float a2, float b1, float b2) =>
            b1 + (val-a1)*(b2-b1)/(a2-a1);
    }