Methods for determining road reaction torque in modeling electric power steering systems: A systematic review

Electric power steering (EPS) helps reduce steering effort, enhances steering feel, and improves safety while the vehicle is in motion. The EPS system offers several significant benefits compared to other power steering systems. Currently, no research comprehensively evaluates the power steering and the car dynamic models, which are utilized to compute the road reaction torque value. This approach makes the field of dynamics and control of EPS systems more challenging for practitioners. In this article, we conduct a thorough investigation and review of the mathematical models of various types of EPS systems, introducing their characteristics and highlighting their scope of application. Additionally, we present and analyze vehicle dynamics models, which determine the road resistant torque value, to determine the appropriate calculation method for each condition. The article's novel contribution lies in its thorough review and analysis of the latest advancements in EPS system dynamics and control, aimed at addressing the previously mentioned challenges. The results of this article are used as a theoretical basis for developing further in-depth studies in the future, making the approach to this field easier.