A computer-implemented method is provided for electric power steering torque compensation, e.g. onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle receives a plurality of compensatory torque signals, each being a data pair including a torque signal and a corresponding actual steering angle. The plurality of compensatory torque signals is used to determine a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. Typically, determining the expected steering angle involves curve fitting a polynomial surface relating vehicle speed and steering angle to applied torque. A vehicle and a computer readable medium are also provided.
Electric power steering torque compensation
2020-12-16
Patent
Electronic Resource
English