Electric power steering torque compensation

1. A computer-implemented method comprising:

determining, by a planning circuit onboard a vehicle and connected to an electric power steering (EPS) system of the vehicle, 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;

transmitting, by the planning circuit and to a control circuit, a base torque signal that applies a torque on the steering wheel;

modifying the base torque signal in accordance with the compensatory torque signal, wherein at least one of the compensatory torque signal or the base torque signal is a voltage;

transmitting, by the planning circuit, the compensatory torque signal to the control circuit that controls the steering angle of the steering wheel;

modifying, by the EPS system, the actual steering angle based on the compensatory torque signal resulting in a modified steering angle; and

operating, using the control circuit, the vehicle based on the modified steering angle characterized in that the method comprises:

generating a plurality of compensatory torque signals, each generated compensatory torque signal comprising a respective torque signal to transmit to the EPS system for applying a torque to the steering wheel, wherein generating the plurality of compensatory torque signals comprises, for each generated compensatory torque signal:

determining an expected steering angle of the steering wheel for the respective torque signal;

applying the respective torque signal to the EPS system, resulting in a steering angle;

operating the vehicle at the steering angle at a pre-determined speed;

determining an actual steering angle of the steering wheel for the respective torque signal; and

storing the generated compensatory torque signal and the actual steering angle as a data pair.

2. The method of claim 1 , wherein modifying the base torque signal in accordance with the compensatory torque signal comprises adding a magnitude of the compensatory torque signal to a magnitude of the base torque signal.

3. The method of claim 1 , wherein the compensatory torque signal is transmitted to the control circuit as a feedforward signal.

4. The method of claim 1 , wherein determining the expected steering angle of the steering wheel for the respective torque signal comprises curve fitting a polynomial surface that relates vehicle speed and steering angle to applied torque.

5. The method of claim 1 , further comprising:

determining a difference between the expected steering angle and the actual steering angle; and

in accordance with a determination that the difference exceeds a predetermined threshold, operating the vehicle to a target location.

6. The method of claim 1 , further comprising:

determining, by the planning circuit, operating conditions of the vehicle; and

modifying the compensatory torque signal according to the operating conditions.

7. The method of claim 6 , wherein the compensatory torque signal is modified according to the operating conditions in real-time.

8. The method of claim 6 , wherein the operating conditions comprise weather conditions in which the vehicle is operated.

9. The method of claim 6 , wherein the operating conditions comprise road conditions on which the vehicle is driven.

10. The method of claim 6 , wherein the operating conditions comprise load carried by the vehicle.

11. The method of claim 6 , wherein the operating conditions comprise driving conditions stored by the planning circuit in a passenger profile comprising driving preferences of one or more passengers of the vehicle.

12. The method of claim 6 , further comprising receiving, by the planning circuit, an instruction to modify the compensatory torque signal from a remote location remote to the vehicle, wherein the compensatory torque signal is modified in response to receiving the instruction from the remote location.

13. A vehicle comprising:

a planning circuit;

memory; and

at least one program stored in the memory, the at least one program including instructions executable by the planning circuit to perform the method of claim 1 .

14. A non-transitory computer-readable storage medium comprising at least one program for execution by a planning circuit of a vehicle, the at least one program including instructions which, when executed by the planning circuit, cause the vehicle to perform the method of claim 1 .