Methods and apparatus to improve electronic power assisted steering in a vehicle
Methods, apparatus, systems and articles of manufacture are disclosed to improve electronic power assisted steering in a vehicle. An example apparatus includes memory and a processor to execute instructions to determine a steering column torque associated with a steering column of an electronic power assisted steering (EPAS) system in a vehicle, determine a steering column torque derivative based on a derivative of the steering column torque, determine a compliance compensation torque based on the steering column torque and the steering column torque derivative, and adjust a steering response of the steering column based on the compliance compensation torque.
1. An apparatus comprising:
memory; and
a processor configured to:
determine a steering column torque associated with a steering column of an electronic power assisted steering (EPAS) system in a vehicle, the steering column torque having a first torque direction that causes a wheel of the vehicle to turn in a first direction;
determine a position of a motor included in the EPAS system based on first sensor data from a motor position sensor;
determine whether a motor velocity sensor is functioning properly;
after determining the motor velocity sensor is not functioning properly, determine a velocity of the motor based on a derivative of the position of the motor;
after determining the motor velocity sensor is functioning properly, determine the velocity of the motor based on second sensor data from the motor velocity sensor;
determine a steering column torque derivative by calculating a derivative of the steering column torque;
determine a compliance compensation torque based on the steering column torque and the steering column torque derivative; and
adjust a steering response of the steering column by applying the compliance compensation torque via the EPAS system, the compliance compensation torque having the first torque direction or a second torque direction that causes the wheel of the vehicle to turn in the first direction, application of the compliance compensation torque overcoming a resistance to torque associated with the EPAS system.
2. The apparatus of claim 1 , wherein the EPAS system is a column EPAS system or a rack EPAS system, and the processor is configured to obtain the steering column torque from a sensor of the column EPAS system or the rack EPAS system.
3. The apparatus of claim 1 , wherein the processor is configured to:
generate a second EPAS assistance torque by increasing a first EPAS assistance torque by the compliance compensation torque; and
deliver the second EPAS assistance torque to the motor of the EPAS system, the steering response adjusted in response to the delivering of the second EPAS assistance torque.
4. The apparatus of claim 1 , wherein the processor is configured to:
determine a value based on a mapping of the steering column torque and the steering column torque derivative to the value in a lookup table; and
determine an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
5. The apparatus of claim 1 , wherein the processor is configured to:
determine a value based on a mapping of (i) the velocity of the motor included in the EPAS system and (ii) the position of the motor to the value in a lookup table; and
determine an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
6. The apparatus of claim 1 , wherein the processor is configured to:
determine a first value based on a first mapping of (i) the steering column torque and (ii) the steering column torque derivative to the first value in a first lookup table;
determine a first adjusted value based on a first multiplication of the first value and a speed of the vehicle;
determine a second value based on a second mapping of (iii) the velocity of the motor included in the EPAS system and (iv) the position of the motor to the second value in a second lookup table;
determine a second adjusted value based on a second multiplication of the second value and the speed of the vehicle; and
determine a sum of the first adjusted value and the second adjusted value, and wherein the compliance compensation torque is further determined based on the sum.
7. A non-transitory computer readable storage medium comprising instructions that, when executed, cause a machine to at least:
determine a steering column torque associated with a steering column of an electronic power assisted steering (EPAS) system in a vehicle, the steering column torque having a first torque direction that causes a wheel of the vehicle to turn in a first direction;
determine a position of a motor included in the EPAS system based on first sensor data from a motor position sensor;
determine whether a motor velocity sensor is functioning properly;
after determining the motor velocity sensor is not functioning properly, determine a velocity of the motor based on a derivative of the position of the motor;
after determining the motor velocity sensor is functioning properly, determine the velocity of the motor based on second sensor data from the motor velocity sensor;
determine a steering column torque derivative by calculating a derivative of the steering column torque;
determine a compliance compensation torque based on the steering column torque and the steering column torque derivative; and
adjust a steering response of the steering column by applying the compliance compensation torque via the EPAS system, the compliance compensation torque having the first torque direction or a second torque direction that causes the wheel of the vehicle to turn in the first direction, application of the compliance compensation torque overcoming a resistance to torque associated with the EPAS system.
8. The non-transitory computer readable storage medium of claim 7 , wherein the EPAS system is a column EPAS system or a rack EPAS system, and the instructions, when executed, cause the machine to obtain the steering column torque from a sensor of the column EPAS system or the rack EPAS system.
9. The non-transitory computer readable storage medium of claim 7 , wherein the instructions, when executed, cause the machine to:
generate a second EPAS assistance torque by increasing a first EPAS assistance torque by the compliance compensation torque; and
deliver the second EPAS assistance torque to the motor of the EPAS system, the steering response adjusted in response to the delivering of the second EPAS assistance torque.
10. The non-transitory computer readable storage medium of claim 7 , wherein the instructions, when executed, cause the machine to:
determine a value based on a mapping of the steering column torque and the steering column torque derivative to the value in a lookup table; and
determine an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
11. The non-transitory computer readable storage medium of claim 7 , wherein the instructions, when executed, cause the machine to:
determine a value based on a mapping of (i) the velocity of the motor included in the EPAS system and (ii) the position of the motor to the value in a lookup table; and
determine an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
12. The non-transitory computer readable storage medium of claim 7 , wherein the instructions, when executed, cause the machine to:
determine a first value based on a first mapping of (i) the steering column torque and (ii) the steering column torque derivative to the first value in a first lookup table;
determine a first adjusted value based on a first multiplication of the first value and a speed of the vehicle;
determine a second value based on a second mapping of (iii) the velocity of the motor included in the EPAS system and (iv) the position of the motor to the second value in a second lookup table;
determine a second adjusted value based on a second multiplication of the second value and the speed of the vehicle; and
determine a sum of the first adjusted value and the second adjusted value, and wherein the compliance compensation torque is determined based on the sum.
13. A method comprising:
determining a steering column torque associated with a steering column of an electronic power assisted steering (EPAS) system in a vehicle, the steering column torque having a first torque direction that causes a wheel of the vehicle to turn in a first direction;
determining a position of a motor included in the EPAS system based on first sensor data from a motor position sensor;
determining whether a motor velocity sensor is functioning properly;
after determining the motor velocity sensor is not functioning properly, determining a velocity of the motor based on a derivative of the position of the motor;
after determining the motor velocity sensor is functioning properly, determine the velocity of the motor based on second sensor data from the motor velocity sensor;
determining a steering column torque derivative by calculating a derivative of the steering column torque;
determining a compliance compensation torque based on the steering column torque and the steering column torque derivative; and
adjusting a steering response of the steering column by applying the compliance compensation torque via the EPAS system, the compliance compensation torque having the first torque direction or a second torque direction that causes the wheel of the vehicle to turn in the first direction, application of the compliance compensation torque overcoming a resistance to torque associated with the EPAS system.
14. The method of claim 13 , wherein adjusting the steering response includes:
generating a second EPAS assistance torque by increasing a first EPAS assistance torque by the compliance compensation torque; and
delivering the second EPAS assistance torque to the motor of the EPAS system.
15. The method of claim 13 , further including:
determining a value based on a mapping of the steering column torque and the steering column torque derivative to the value in a lookup table; and
determining an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
16. The method of claim 13 , further including:
determining a value based on a mapping of (i) the velocity of the motor included in the EPAS system and (ii) the position of the motor to the value in a lookup table; and
determining an adjusted value based on a multiplication of the value and a speed of the vehicle, and wherein the compliance compensation torque is further determined based on the adjusted value.
17. The method of claim 13 , further including:
determining a first value based on a first mapping of (i) the steering column torque and (ii) the steering column torque derivative to the first value in a first lookup table;
determining a first adjusted value based on a first multiplication of the first value and a speed of the vehicle;
determining a second value based on a second mapping of (iii) the velocity of the motor included in the EPAS system and (iv) the position of the motor to the second value in a second lookup table;
determining a second adjusted value based on a second multiplication of the second value and the speed of the vehicle; and
determining a sum of the first adjusted value and the second adjusted value, and wherein the compliance compensation torque is determined based on the sum.