Methods and apparatus to move a steering wheel

1. A vehicle comprising:

a steering assist system;

a steering system including a steering wheel; and

a steering controller to:

detect a request to move the steering wheel of the vehicle to a first rotational position, the steering wheel having a second rotational position;

actuate, via the steering assist system, the steering wheel towards the first rotational position;

determine, based on a relationship between a first parameter and a second parameter, a third rotational position, the third rotational position having an angular offset from the first rotational position, the first parameter corresponding to a position of the steering system, the second parameter corresponding to a load on the steering system; and

in response to reaching the third rotational position, disengage the steering assist system, the disengagement causing the steering wheel to rotate to the first rotational position.

2. The vehicle of claim 1 , wherein the first parameter includes at least one of a steering wheel angle or a steering rack displacement.

3. The vehicle of claim 1 , wherein the second parameter includes a first load on a tie rod, a torque of a power steering motor, a current of the power steering motor, or a second load on a steering rack.

4. The vehicle of claim 1 , wherein the steering controller determines the third rotational position during the actuation of the steering wheel towards the first rotational position.

5. The vehicle of claim 4 , wherein the steering controller:

determines an angular displacement during the actuation of the steering wheel towards the first rotational position, wherein the relationship between the first parameter and the second parameter changes from a first relationship to a second relationship; and

wherein determination of the third rotational position includes setting the angular offset equal in magnitude to the angular displacement.

6. The vehicle of claim 1 , further including:

a suspension system;

a wheel including a tire; and

a steering rack, the angular offset compensating for residual forces associated with at least a first position of the steering rack, a second position of the suspension system, or a third position of the tire.

7. The vehicle of claim 1 , wherein the first rotational position is a centered position and further including, in response to reaching the first rotational position, stowing the steering wheel.

8. The vehicle of claim 1 , wherein the angular offset compensates for residual forces associated with at least of a first position of a steering rack, a second position of a suspension system, or a third position of a tire.

9. A method comprising:

detecting a request to move a steering wheel of a steering system of a vehicle to a first rotational position, the steering wheel having a second rotational position;

actuating, via a steering assist system, the steering wheel towards the first rotational position;

determining, based on a relationship between a first parameter and a second parameter, a third rotational position, the third rotational position having an angular offset from the first rotational position, the first parameter corresponding to a position of the steering system, the second parameter corresponding to a load on the steering system; and

in response to reaching third rotational position, disengaging the steering assist system, the disengagement causing the steering wheel to rotate to the first rotational position.

10. The method of claim 9 , wherein the first parameter includes at least one of a steering wheel angle or a steering rack displacement.

11. The method of claim 9 , wherein the second parameter includes a first load on a tie rod, a torque of a power steering motor, a current of the power steering motor, or a second load on a steering rack.

12. The method of claim 9 , wherein the determination of the third rotational position occurs during the actuation of the steering wheel towards the first rotational position.

13. The method of claim 12 , further including:

determining an angular displacement during the actuation of the steering wheel towards the first rotational position, wherein the relationship between the first parameter and the second parameter changes from a first relationship to a second relationship; and

wherein determination of the third rotational position includes setting the angular offset equal in magnitude to the angular displacement.

14. A non-transitory computer readable medium comprising instructions which, when executed, cause a processor to at least:

detect a request to move a steering wheel of a steering system of a vehicle to a first rotational position, the steering wheel having a second rotational position;

actuate, via a steering assist system, the steering wheel towards the first rotational position;

determine, based on a relationship between a first parameter and a second parameter, a third rotational position, the third rotational position having an angular offset from the first rotational position, the first parameter corresponding to a position of the steering system, the second parameter corresponding to a load on the steering system; and

in response to reaching third rotational position, disengage the steering assist system, the disengagement causing the steering wheel to rotate to the first rotational position.

15. The non-transitory computer readable medium of claim 14 , wherein the first parameter includes at least one of a steering wheel angle or a steering rack displacement.

16. The non-transitory computer readable medium of claim 14 , wherein the second parameter includes a first load on a tie rod, a torque of a power steering motor, a current of the power steering motor, or a second load on a steering rack.

17. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed, cause the processor to determine the third rotational position during the actuation of the steering wheel towards the first rotational position.

18. The non-transitory computer readable medium of claim 17 , wherein the instructions, when executed, cause the processor to:

determine an angular displacement, during the actuation of the steering wheel towards the first rotational position, wherein the relationship between the first parameter and the second parameter changes from a first relationship to a second relationship; and

wherein determination of the third rotational position includes setting the angular offset equal in magnitude to the angular displacement.

19. The non-transitory computer readable medium of claim 14 , wherein the angular offset compensates for residual forces associated with at least of a first position of a steering rack, a second position of a suspension system, or a third position of a tire.

20. The non-transitory computer readable medium of claim 14 , wherein the first rotational position is a centered position and further including, in response to reaching the first rotational position, stowing the steering wheel.