公开(公告)号：US20200239067A1

公开(公告)日：2020-07-30

申请号：US16776422

申请日：2020-01-29

Applicant: Aptiv Technologies Limited

Inventor： Ning Wu ,  Hans Andersen ,  Francesco Seccamonte

IPC: B62D6/04 ,  B62D5/04

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines 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. The control circuit operates the vehicle based on the modified steering angle.