Patent Publication Number: US-2022212713-A1

Title: Torque estimation apparatus and steering assist apparatus and method

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the priority benefit of Republic of Korea Patent Application No. 10-2021-0001298, filed on Jan. 6, 2021 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. 
     BACKGROUND 
     Field of the Disclosure 
     The present disclosure relates to steering systems, and more specifically, to torque estimation apparatuses, and steering assist apparatuses and methods. 
     Description of the Background 
     A steering system is typically used for changing a steering angle of a vehicle wheel based on a steering force (e.g., rotational force) applied to a steering wheel by an operator, such as a driver of a vehicle. Recently, as being implemented in an electric power steering system, the electric power steering (EPS) has been applied to a vehicle in order to reduce the steering force of the steering wheel and ensure the stability of the steering. 
     Further, the demand for research and development for estimating the steering intention of a driver has significantly increased with respect to the vehicle steering system. 
     SUMMARY 
     Embodiments of the present disclosure provide torque estimation apparatuses capable of accurately estimating the steering intention of a driver. 
     Further, embodiments of the present disclosure provide steering assist apparatuses capable of accurately estimating the steering intention of a driver. 
     Further, embodiments of the present disclosure provide steering assist methods capable of accurately estimating the steering intention of a driver. 
     According to one aspect of the present disclosure, a torque estimation apparatus is provided that includes a first estimator capable of calculating a standard deviation of driver torques, and estimating an eccentric mass of a steering wheel based on the standard deviation of the driver torques, and a second estimator capable of estimating an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by a steering angle sensor. 
     According to another aspect of the present disclosure, a steering assist apparatus is provided that includes a sensor module including a steering angle sensor for detecting a steering angle, and a steering control module for controlling the operation of a steering motor by controlling a steering motor power supply based on a steering motor control signal, wherein the steering control module calculates a standard deviation of driver torques, estimates an eccentric mass of a steering wheel based on the standard deviation of the driver torques, estimates an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using the steering angle detected by the steering angle sensor, and generates the steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected. 
     According to further another aspect of the present disclosure, a steering assist method is provided that includes calculating a standard deviation of driver torques and estimating an eccentric mass of a steering wheel based on the standard deviation of the driver torques, estimating an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by a steering angle sensor, and generating a steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected and controlling the operation of a steering motor by controlling a steering motor power supply based on the steering motor control signal. 
     According to embodiments of the present disclosure, it is possible to provide torque estimation apparatuses capable of accurately estimating the steering intention of a driver. 
     According to embodiments of the present disclosure, it is possible to provide steering assist apparatuses capable of accurately estimating the steering intention of a driver. 
     According to embodiments of the present disclosure, it is possible to provide steering assist methods capable of accurately estimating the steering intention of a driver. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of the disclosure, illustrate aspects of the disclosure and together with the description serve to explain the principle of the disclosure. In the drawings: 
         FIG. 1  is a block diagram of a steering system according to aspects of the present disclosure; 
         FIG. 2  is a functional block diagram of a steering control module of the steering system according to aspects of the present disclosure; 
         FIGS. 3 and 4  illustrate configurations of steering apparatuses according to aspects of the present disclosure; 
         FIG. 5  is a functional block diagram of a torque estimation apparatus according to aspects of the present disclosure; 
         FIG. 6  is a functional block diagram of a steering control module of the steering system according to aspects of the present disclosure; 
         FIG. 7  illustrates the modeling of a steering wheel included in the steering system according to aspects of the present disclosure; 
         FIG. 8  illustrates an observer according to aspects of the present disclosure; 
         FIG. 9  is a diagram for explaining an eccentric torque of the steering wheel included in the steering system according to aspects of the present disclosure; 
         FIG. 10  is a flow sequence illustrating a steering assist method according to aspects of the present disclosure; and 
         FIG. 11  is a block diagram of a computer system for the torque estimation apparatus, a steering control apparatus, a steering assist apparatus, and the steering system according to aspects of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description of examples or embodiments of the present disclosure, reference will be made to the accompanying drawings in which it is shown by way of illustration specific examples or embodiments that can be implemented, and in which the same reference numerals and signs can be used to designate the same or like components even when they are shown in different accompanying drawings from one another. Further, in the following description of examples or embodiments of the present disclosure, detailed descriptions of well-known functions and components incorporated herein will be omitted when it is determined that the description may make the subject matter in some embodiments of the present disclosure rather unclear. The terms such as “including”, “having”, “containing”, “constituting” “make up of”, and “formed of” used herein are generally intended to allow other components to be added unless the terms are used with the term “only”. As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise. 
     Terms, such as “first”, “second”, “A”, “B”, “(A)”, or “(B)” may be used herein to describe elements of the disclosure. Each of these terms is not used to define essence, order, sequence, or number of elements etc., but is used merely to distinguish the corresponding element from other elements. 
     When it is mentioned that a first element “is connected or coupled to”, “contacts or overlaps” etc. a second element, it should be interpreted that, not only can the first element “be directly connected or coupled to” or “directly contact or overlap” the second element, but a third element can also be “interposed” between the first and second elements, or the first and second elements can “be connected or coupled to”, “contact or overlap”, etc. each other via a fourth element. Here, the second element may be included in at least one of two or more elements that “are connected or coupled to”, “contact or overlap”, etc. each other. 
     When time relative terms, such as “after,” “subsequent to,” “next,” “before,” and the like, are used to describe processes or operations of elements or configurations, or flows or steps in operating, processing, manufacturing methods, these terms may be used to describe non-consecutive or non-sequential processes or operations unless the term “directly” or “immediately” is used together. Meanwhile, when numerical values for elements included in embodiments of the present disclosure or their associated information (e.g., levels etc.) are described, even when specific relevant descriptions are not given, the numerical values or the associated information may be interpreted as including a margin of error that can be caused by several factors (e.g., factors in the process, internal or external impact, noise, etc.). 
       FIG. 1  is a block diagram of a steering system according to aspects of the present disclosure. 
     Referring to  FIG. 1 , the steering system  1  according to aspects of the present disclosure may include at least one of a steering apparatus  100  and a steering assist apparatus  200 . The steering apparatus  100  and the steering assist apparatus  200  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     In some embodiments, one or more steering apparatuses  100  may be used. The steering apparatus  100  can change a steering angle of at least one vehicle wheel  150  based on a steering force (e.g., rotational force, etc.) applied to a steering wheel  140 . The steering apparatus  100  may include at least one of an input-side mechanism  110 , an output-side mechanism  120 , and a connection/disconnection mechanism  130 . The input-side mechanism  110 , the output-side mechanism  120 , and the connection/disconnection mechanism  130  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     In some embodiments, one or more input-side mechanisms  110  may be used. The input-side mechanism  110  may be connected to the steering wheel  140 . The input-side mechanism  110  can rotate in a rotational direction of the steering wheel  140  or in a direction opposite to the rotational direction of the steering wheel  140 . The input-side mechanism  110  may include a steering shaft connected to the steering wheel  140 ; however, embodiments of the present disclosure are not limited thereto. For example, any mechanisms (or devices) capable of rotating (or moving) in the rotational direction of the steering wheel or in a direction opposite to the rotational direction of the steering wheel may be included in the input-side mechanism  110 . 
     In some embodiments, one or more output-side mechanisms  120  may be used. The output-side mechanism  120  may be connected to the input-side mechanism  110  by at least one of electrical and mechanical connections. The output-side mechanism  120  may be connected to the vehicle wheel  150  and can change a steering angle (or movement, etc.) of the vehicle wheel  150 . The output-side mechanism  120  may include at least one of a pinion, a rack, a tie rod, and a knuckle arm; however, embodiments of the present disclosure are not limited thereto. For example, any mechanisms (or devices) capable of changing a steering angle (or, movement, etc.) of the vehicle wheel may be included in the output-side mechanism  120 . 
     In some embodiments, one or more connection/disconnection mechanisms  130  may be used. The connection/disconnection mechanism  130  may be connected to the input-side mechanism  110  and the output-side mechanism  120 . The connection/disconnection mechanism  130  may mechanically or electrically connect or disconnect the input-side mechanism  110  and the output-side mechanism  120 . The connection/disconnection mechanism  130  may include a clutch; however, embodiments of the present disclosure are not limited thereto. For example, any mechanisms (or devices) capable of mechanically or electrically connect or disconnect the input-side mechanism and the output-side mechanism may be included in the connection/disconnection mechanism  130 . 
     The steering apparatus  100  according to aspects of the present disclosure may include a type of steering apparatus in which the input-side mechanism and the output-side mechanism are mechanically connected, a type of steering apparatus in which the input-side mechanism and the output-side mechanism are electrically connected (e.g., a steer-by-wire (SbW) steering apparatus), and a type of steering apparatus in which the input-side mechanism and the output-side mechanism are connected via the connection/disconnection mechanism (e.g., a steer-by-wire (SbW) steering apparatus including a clutch). 
     In some embodiments, one or more steering wheels  140  and one or more vehicle wheels  150  may be used. The steering wheel  140  and the vehicle wheel  150  may be separately provided as shown in  FIG. 1 ; however, embodiments of the present disclosure are not limited thereto. For example, the steering wheel  140  and the vehicle wheel  150  may be included in the steering apparatus  100 . 
     In some embodiments, one or more steering assist apparatuses  200  may be used. The steering assist apparatus  200  may be connected to the steering apparatus  100 . The steering assist apparatus  200  can provide an assist steering force to the steering apparatus  100 . 
     The steering assist apparatus  200  according to aspects of the present disclosure may include at least one of an input power supply  210 , a steering control module  220 , a steering actuator  230 , and a sensor module  240 . The input power supply  210 , the steering control module  220 , the steering actuator  230 , and the sensor module  240  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     In some embodiments, one or more input power supplies  210  may be used. The input power supply  210  may include at least one of a DC power supply and an AC power supply. In particular, the DC power supply may include a battery or the like; however, embodiments of the present disclosure are not limited thereto. For example, any power supplies capable of providing DC power may be included in the DC power supply. 
     In some embodiments, the sensor module  240  may include at least one sensor. The sensor may include at least one of a steering torque sensor  241 , a steering angle sensor  242 , and a position sensor  243   e ; however, embodiments of the present disclosure are not limited thereto. For example, the sensor may include any sensors capable of measuring a status of a vehicle and a steering status of the vehicle. 
     In some embodiments, one or more steering torque sensors  241  may be used. The steering torque sensor  241  can measure a steering torque of the steering wheel and provide information on the steering torque of the steering wheel to the steering control module  220 . In some embodiments, one or more steering angle sensors  242  may be used. The steering angle sensor  242  can measure a steering angle of the steering wheel and provide information on the steering angle of the steering wheel to the steering control module  220 . In some embodiments, one or more position sensors  243  may be used. The position sensor  243  can measure at least one of a position of the input-side mechanism, a position of the output-side mechanism, and a position of a steering motor, and provide at least one of information on the position of the input-side mechanism, information on the position of the output-side mechanism, and information on the position of the steering motor to the steering control module  220 . 
     The steering torque sensor  241 , the steering angle sensor  242 , and the position sensor  243  may be separately provided as shown in  FIG. 1 ; however, embodiments of the present disclosure are not limited thereto. For example, at least one of the steering torque sensor  241 , the steering angle sensor  242 , and the position sensor  243  may be included in at least one of the input-side mechanism  110 , the output-side mechanism  120 , the connection/disconnection mechanism  130 , the steering wheel  140 , the vehicle wheel  150 , the input power supply  210 , the steering control module  220 , and the steering actuator  230  (a steering motor  231 , or a reducer  232 ). 
     In some embodiments, one or more steering control modules  220  may be used. The steering control module  220  may be connected to the input power supply  210 . The steering control module  220  can receive electrical energy from the input power supply  210  and filter noise of the electrical energy. 
     The steering control module  220  can generate a steering motor control signal based on information (e.g., at least one of steering torque information, steering angle information, position information, and vehicle speed information) provided by each component in the steering system  1 . 
     The steering control module  220  can generate an assist steering force from the filtered electrical energy according to the steering motor control signal, and control the steering actuator  230  (or the steering motor  231 ) based on the assist steering force. 
     In some embodiments, one or more steering actuators  230  may be used. The steering actuator  230  may be connected to the steering control module  220 . The steering actuator  230  can assist the steering of the steering apparatus  100  by operating based on the assist steering force provided from the steering control module  220 . 
     The steering actuator  230  may include at least one of the steering motor  231  and the reducer  232 . In some embodiments, one or more steering motors  231  and one or more reducers  232  may be used. At least one of the steering motor  231  and the reducer  232  may be connected to the steering control module  220 . 
     In a case where the steering actuator  230  includes the steering motor  231 , the steering motor  231  can assist the steering of the steering apparatus  100  by operating based on the assist steering force provided from the steering control module  220 . 
     In a case where the steering actuator  230  includes the steering motor  231  and the reducer  232 , the steering motor  231  can operate based on the assist steering force provided from the steering control module  220 , and the reducer  232  can assist the steering of the steering apparatus  100  by operating according to the operation of the steering motor  231 . 
     The steering motor  231  may include at least one of a single winding type steering motor and a dual winding type steering motor; however, embodiments of the present disclosure are not limited thereto. For example, any motors capable of assisting the steering of the steering apparatus may be used as the steering motor  231 . 
     The steering motor  231  may include at least one of a single-phase type motor, a three-phase type motor, and a five-phase type motor; however, embodiments of the present disclosure are not limited thereto. For example, any motors capable of assisting the steering of the steering apparatus may be used as the steering motor  231 . 
     The steering motor  231  may include at least one of a DC motor and an AC motor (e.g., a synchronous motor, an induction motor and/or the like); however, embodiments of the present disclosure are not limited thereto. For example, any motors capable of assisting the steering of the steering apparatus may be used as the steering motor  231 . 
       FIG. 2  is a functional block diagram of the steering control module of the steering system according to aspects of the present disclosure. 
     Referring to  FIG. 2 , the steering control module  220  according to embodiments of the present disclosure may include at least one of a filter  10 , a steering motor power supply  20 , a sensor  30 , a communication device  40 , a controller  50 , a controller monitor  60 , an operation power converter  70 , and a power path controller  80 . The filter  10 , the steering motor power supply  20 , the sensor  30 , the communication device  40 , the controller  50 , the controller monitor  60 , the operation power converter  70 , and the power path controller  80  may be connected by at least one of electrical, magnetic and mechanical connections. 
     In some embodiments, one or more filters  10  may be used. The filter  10  may be connected to input power supply. The filter  10  can filter noise of electrical energy supplied from the input power supply and provide electrical energy resulting from the filtering to the steering motor power supply  20  and the operation power converter  70 . 
     In some embodiments, one or more steering motor power supplies  20  may be used. The steering motor power supply  20  may be connected to the filter  10  and can receive the filtered electrical energy. The steering motor power supply  20  may be connected to the controller  50  and can receive a steering motor control signal. The steering motor power supply  20  can generate an assist steering force by converting the filtered electric energy based on the steering motor control signal, and control the steering motor based on the assist steering force. 
     The steering motor power supply  20  may include at least one of a switch element driver  21  and an inverter  22 . In some embodiments, one or more switch element drivers  21  may be used, and one or more inverters  22  may be used. The switch element driver  21  and the inverter  22  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     The switch element driver  21  can receive a steering motor control signal from the controller  50 , and generate a switch element control signal based the steering motor control signal and provide the generated signal to the inverter  22 . The inverter  22  can generate an assist steering force by converting the filtered electric energy from the filter according to the switch element control signal. 
     The inverter  22  may include a switch, a transistor, and/or the like; however, embodiments of the present disclosure are not limited thereto. For example, the inverter  22  may include any elements (or devices) capable of generating an assist steering force by converting the electric energy according to the switch element control signal, 
     In a case where the inverter  22  includes a field effect transistor (FET), the switch element driver  21  may be a gate driver. Thus, the gate driver can receive a steering motor control signal from the controller  50 , and generate a gate control signal based the steering motor control signal and provide the generated signal to the inverter  22 . The inverter  22  can generate an assist steering force by converting the filtered electric energy from the filter according to the gate control signal. 
     In some embodiments, one or more power path controllers  80  may be used. The power path controller  80  may be located between the steering motor power supply  20  (or the inverter  22 ) and the steering actuator  230  (or the steering motor  231 ), and can supply the assist steering force supplied by the steering motor power supply  20  (or the inverter  22 ) to the steering actuator  230  (or the steering motor  231 ), or block the supply of the assist steering force to the steering actuator  230  (or the steering motor  231 ). 
     The power path controller  80  may include at least one phase disconnector (PCO). The phase disconnector is the element or circuit capable of cutting off a phase, and may include at least one of a switch, a circuit breaker, a disconnecting switch, and an on-off controller, and a transistor; however, embodiments of the present disclosure are not limited thereto. For example, the phase disconnector may include any elements or circuits capable of cutting off a phase. 
     The sensor  30  may include at least one of a temperature sensor  31 , a current sensor  32 , and a motor position sensor  33 ; however, embodiments of the present disclosure are not limited thereto. For example, the sensor  30  may include any sensors capable of measuring a status of the steering system (or the steering control module). In some embodiments, one or more power temperature sensors  31 , one or more current sensor,  32 , and one or more motor position sensors  33  may be used. The temperature sensor  31 , the current sensor  32 , and the motor position sensor  33  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     The temperature sensor  31  can measure a temperature of the steering control module  220  and provide information on the measured temperature to the controller  50 . The current sensor  32  can measure an assist current (or an assist steering force) supplied from the steering motor power supply  20  to the steering actuator  230  (or the steering motor  231 ), and supply information on the measured assist current to the controller  50 . Also, the motor position sensor  33  can measure a position of the steering motor and supply information on the position of the steering motor to the controller  50 . As described above, the motor position sensor  33  may be included in the steering control module  220 ; however, embodiments of the present disclosure are not limited thereto. For example, the motor position sensor  33  may be provided separately from the steering control module  220 . 
     In some embodiments, one or more communication devices  40  may be used. The communication device  40  may include at least one of an internal communication device and an external communication device. In a case where multiple steering control modules are used, respective internal communication devices located in the steering control modules can be linked and receive or provide information to each other. In a case where an external communication device is connected to a vehicle, vehicle status information (e.g., vehicle speed information, etc.) can be obtained from the vehicle via the external communication device, or provide information related to the steering system to the vehicle. Such internal and/or external communication devices may be connected by at least one of electrical, magnetic, and mechanical connections. 
     In some embodiments, one or more controllers  50  may be used. The controller  50  can be connected to each component of the steering control module  220  to provide or receive information, and control the operation of each component of the steering control module  220  based on the information. 
     For example, based on at least one of steering torque information of the steering wheel, steering angle information of the steering wheel, temperature information, assist current information, position information (e.g., position information of the input-side mechanism, position information of the output-side mechanism, and position information of the steering motor etc.), vehicle status information (e.g., vehicle speed information), input power status information, short circuit (or overcurrent) status information, current detection information of the filter, and steering motor status information, the controller  50  can generate a steering motor control signal and supply the generated signal to the steering motor power supply  20  (or the switch element driver  21 ), or generate a disconnection/connection control signal (e.g., a clutch control signal) and supply the generated signal to the connection/disconnection mechanism. 
     The controller  50  may include a micro controller; however, embodiments of the present disclosure are not limited thereto. For example, the controller  50  may include any types of devices (or computers) capable of processing (or executing and computing) programs. 
     The controller monitor  60  may be connected to the controller  50 . The controller monitor  60  can monitor an operating status of the controller  50 . For example, the controller  50  can supply a watchdog signal to the controller monitor  60 . Based on the watchdog signal supplied by the controller  50 , the controller monitor  60  can be cleared, or generate a reset signal and provide the generated signal to the controller  50 . 
     The controller monitor  60  may include a watchdog; however, embodiments of the present disclosure are not limited thereto. For example, the controller monitor  60  may include any devices capable of monitoring the controller. In particular, the watchdog may include a window watchdog having a deadline, that is, a start and an end. 
     The operation power converter  70  may be connected to the filter  10 . The operation power converter  70  can generate an operating voltage for each component of the steering control module  220  by converting the filtered electric energy of the filter  10 . The operation power converter  70  may include at least one of a DC-DC converter and a regulator; however, embodiments of the present disclosure are not limited thereto. For example, the operation power converter  70  may include any devices capable of generating an operating voltage for each component of the steering control module  220  and/or for one or more components outside of the steering control module  220  by converting the filtered electric energy of the filter  10 . 
     The steering control module  220  may include an electronic control unit (ECU); however, embodiments of the present disclosure are not limited thereto. For example, the steering control module  220  may include any devices (or module, systems, etc.) capable of electronically controlling. 
       FIGS. 3 and 4  illustrate configurations of steering apparatuses according to aspects of the present disclosure. 
     Referring to  FIG. 3 , the steering apparatus according to aspects of the present disclosure may include an input-side mechanism  110  connected to the steering wheel  140 , and an output-side mechanism  120  mechanically connected to the input-side mechanism  110  and connected to the vehicle wheel  150 , and the like. 
     The input-side mechanism  110  can rotate in a rotational direction of the steering wheel  140  or in a direction opposite to the rotational direction of the steering wheel  140 , and include the steering shaft  111  connected to the steering wheel  140 , and the like. 
     The output-side mechanism  120  can change a steering angle (or a movement, etc.) of the vehicle wheel  150 , and include at least one of a universal joint  121 , a pinion  122 , a rack  123 , a tie rod  124 , and a knuckle arm  125  etc. 
     The steering actuator  230  can be located on, and assist with, any one of the input-side mechanism  110  and the output-side mechanism  120 . For example, in a case where the steering actuator  230  is positioned on a steering shaft  111  of the input-side mechanism  110 , the steering system according to aspects of the present disclosure may be a C-EPS type, and in a case where the steering actuator  230  is positioned on the output-side mechanism  120 , the steering system according to aspects of the present disclosure may be a R-EPS type. Further, in a case where the steering actuator  230  is positioned on the pinion  122  of the output-side mechanism  120 , the steering system according to aspects of the present disclosure may be a P-EPS type. 
     Referring to  FIG. 4 , the steering apparatus according to aspects of the present disclosure may include an input-side mechanism  110  connected to the steering wheel  140 , and an output-side mechanism  120  mechanically disconnected to the input-side mechanism  110  and connected to the vehicle wheel  150 , and the like. That is, the steering apparatus  100  according to aspects of the present disclosure may be a steer-by-wire (SbW) steering apparatus. 
     The input-side mechanism  110  can rotate in a rotational direction of the steering wheel  140  or in a direction opposite to the rotational direction of the steering wheel  140 , and include the steering shaft  111  connected to the steering wheel  140 , and the like. 
     The output-side mechanism  120  can change a steering angle (or a movement, etc.) of the vehicle wheel  150 , and include at least one of a pinion  122 , a rack  123 , a tie rod  124 , and a knuckle arm  125  etc. 
     The steering assist apparatus  200  may include an input-side steering assist apparatus for assisting the input-side mechanism  110  and an output-side steering assist apparatus for assisting the output-side mechanism  120 . Further, the input-side mechanism  110  and the input-side steering assist apparatus may be referred to as a steering feedback actuator (SFA), and the output-side mechanism  120  and the output-side steering assist apparatus may be referred to as a road wheel actuator (RWA). 
       FIG. 5  is a functional block diagram of a torque estimation apparatus according to aspects of the present disclosure. 
     Referring to  FIG. 5 , the torque estimation apparatus  300  according to aspects of the present disclosure may include at least one of a first estimator  310 , a second estimator  320 , an updater  330 , and a third estimator  340 . In some embodiments, one or more first estimators,  310 , one or more second estimators  320 , one or more updaters  330 , and one or more third estimators  340  may be used. The first estimator  310 , the second estimator  320 , the updater  330 , and the third estimator  340  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     For example, the torque estimation apparatus  300  according to aspects of the present disclosure may include the first estimator  310  for estimating an eccentric mass of the steering wheel, and a second estimator  320  for estimating an eccentric torque of the steering wheel. 
     Specifically, the first estimator  310  can estimate an eccentric mass of the steering wheel based on a torque supplied by a driver (“driver torque”). 
     In this case, the driver torque may refer to a force of the driver applied to the steering wheel when the driver operates the steering wheel, and be a substantial torque representing the steering intention of the driver. 
     In particular, the first estimator  310  can estimate an eccentric mass of the steering wheel based on the driver torque through a machine learning algorithm. 
     For example, the first estimator  310  can calculate a standard deviation of driver torques and estimate an eccentric mass of the steering wheel based on the standard deviation of the driver torques. 
     In this case, the first estimator  310  can calculate the standard deviation of the driver torques, for example, based on values of driver torques and a mean value of the driver torque values. 
     For example, the first estimator  310  can calculate each deviation of driver torques using values of driver torques and a mean value of the driver torque values, and calculate the standard deviation of the driver torques based on each deviation of driver torques. 
     That is, the first estimator  310  can calculate each deviation of driver torques by subtracting a mean value of the driver torques from each value of the driver torques, and then, calculate the standard deviation of the driver torques by taking the square root of a mean value of each value resulting from squaring each deviation of the driver torques. 
     The first estimator  310  can estimate an eccentric mass of the steering wheel based on a current standard deviation value and a previous standard deviation value for the driver torques. 
     For example, the first estimator  310  can estimate the eccentric mass of the steering wheel by multiplying a difference value between the current standard deviation value and the previous standard deviation value for the driver torques, a gain value for the eccentric mass of the steering wheel, and a current eccentric mass value of the steering wheel. 
     The second estimator  320  can estimate an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by the steering angle sensor. 
     For example, the second estimator  320  can estimate the eccentric torque of the steering wheel caused by gravity acting on the eccentric mass of the steering wheel using the steering angle detected by the steering angle sensor. 
     Specifically, the second estimator  320  can estimate the eccentric torque of the steering wheel by using (e.g., multiplying) the eccentric mass of the steering wheel, the gravity acting on the eccentric mass of the steering wheel, a distance between the rotation center of the steering wheel and the mass center of the steering wheel, and the steering angle detected by the steering angle sensor with a sine shape. 
     The updater  330  can update the eccentric mass of the steering wheel. The updater  330  can store the updated eccentric mass of the steering wheel in a memory. 
     For example, the updater  330  can determine and update the eccentric mass of the steering wheel through the machine learning algorithm. Specifically, the machine learning algorithm can calculate a standard deviation of driver torques, and estimate an eccentric mass of the steering wheel based on the standard deviation of the driver torques. Here, the machine learning algorithm can be implemented using typical algorithms such as deep learning, support vector machine (SVM), neural network, and the like, and can be learned to update an eccentric mass of the steering wheel. As a result, the updater  330  can estimate an eccentric torque of the steering wheel based on the updated eccentric mass of the steering wheel by using a steering angle detected by the steering angle sensor. 
     The third estimator  340  can estimate a steering angle of the steering wheel, a steering angular velocity of the steering wheel, and a driver torque based on a steering torque detected by the steering torque sensor, a steering angle detected by the steering angle sensor, and an eccentric torque of the steering wheel. 
     For example, the third estimator  340  can determine the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque as state variables, calculate a state equation for the steering wheel based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel, and estimate the state variables (the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque) based on the state equation for the steering wheel, first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. 
     The updater  330  can update the first to third proportional gains. Thus, the third estimator  340  can determine the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque as state variables, calculate the state equation for the steering wheel based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel, and estimate the state variables (the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque) based on the state equation for the steering wheel, updated first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. 
     The updater  330  can determine and update the first to third proportional gains through a Kalman filter. 
       FIG. 6  is a functional block diagram of the steering control module of the steering system according to aspects of the present disclosure. 
     Referring to  FIG. 6 , the steering control module  220  of the steering system according to aspects of the present disclosure may include a controller  50 . The controller  50  may include at least one of a first estimator  51 , a second estimator  52 , an updater  53 , a third estimator  54 , and a control signal generator  55 . In some embodiments, one or more first estimators  51 , one or more second estimators  52 , one or more updaters  53 , one or more third estimators  54 , and one or more control signal generators  55  may be used. The first estimator  51 , the second estimator  52 , the updater  3 , the third estimator  55 , and the control signal generator  55  may be connected by at least one of electrical, magnetic, and mechanical connections. 
     The first estimator  51 , the second estimator  52 , the updater  53 , and the third estimator  54  of the controller  50  as shown in  FIG. 6  may correspond to (e.g., be substantially equal to and perform substantial equal functions to) the first estimator  310 , the second estimator  320 , the updater  330 , and the third estimator  340  of the torque estimation apparatus  300  described above with reference to  FIG. 5 , respectively. 
     Referring to  FIGS. 1 to 6 , the steering system according to aspects of the present disclosure may include the steering apparatus  100  including the input-side mechanism  110  connected to the steering wheel  140  and the output-side mechanism  120  connected to the vehicle wheel  150 , and the steering assist apparatus  200  for assisting at least one of the input-side mechanism  110  and the output-side mechanism  120 . 
     The steering assist apparatus  200  according to aspects of the present disclosure may include the sensor module  240  including at least one of the steering angle sensor  242  for detecting a steering angle and the steering torque sensor  241  for detecting a steering torque, and the steering control module  220  for controlling the operation of the steering motor  231  by controlling the steering motor power supply  20  based on a steering motor control signal. In this case, the steering control module  220  can estimate an eccentric mass of the steering wheel based on driver torque, estimate an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using the steering angle detected by the steering angle sensor, and generate the steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected. 
     In particular, the steering control module  220  may include the first estimator  51  for estimating an eccentric mass of the steering wheel based on driver torque, the second estimator  52  for estimating an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by the steering angle sensor, and the control signal generator  55  for generating a steering motor control signal based on at least one of the steering angle of the steering wheel, a steering angular speed of the steering wheel, and the driver torque. 
     The control signal generator  55  can generate the steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected. 
     Since the first estimator  51 , the second estimator  52 , the updater  53 , and the third estimator  54  included in the steering control module  220  shown in  FIG. 6  may be substantially equal to the first estimator  310 , the second estimator  320 , the updater  330 , and the third estimator  340  of the torque estimation apparatus described above with reference to  FIG. 5 , respectively, therefore, repeated discussions on these components will not be performed for convenience and brevity of the description. 
     As described above, the steering control module  220  can perform corresponding functions using the first estimator  51 , the second estimator  52 , the updater  53 , the third estimator  54 , and the control signal generator  55 ; however, embodiments of the present disclosure are not limited thereto. For example, such functions may be performed integrally through a single device, for example, the controller  50 . 
       FIG. 7  illustrates the modeling of the steering wheel included in the steering system according to aspects of the present disclosure. 
     Referring to  FIG. 7 , the steering torque sensor  241  and the steering angle sensor  242  may be located on the steering wheel  140 . The steering torque sensor  241  and the steering angle sensor  242  may be provided individually; however, embodiments of the present disclosure are not limited thereto. For example, the steering torque sensor  241  and the steering angle sensor  242  may be provided in the form of an integrated torque angle sensor (TAS). 
     The steering torque sensor  241  can detect a steering torque. In particular, the steering torque may be equal to a torsion-bar torque. 
     The steering angle sensor  242  can detect a steering angle. 
     Meanwhile, parameters and variables for the steering system may be represented as shown in Table 1. 
     
       
         
           
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Category 
                 Symbol 
                 Description 
                 Unit 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
            
               
                 Parameters 
               
            
           
           
               
               
               
               
            
               
                 Steering wheel 
                 J sw   
                 Inertia 
                 kg · m 2   
               
               
                   
                 B SW   
                 Damping coefficient 
                 N · m · s/rad 
               
            
           
           
               
            
               
                 States and Input variable 
               
            
           
           
               
               
               
               
            
               
                 Steering wheel 
                 τ drv   
                 Driver torque (unknown) 
                 N · m 
               
               
                   
                 τ t   
                 Torsion bar torque torque 
                 N · m 
               
               
                   
                   
                 (measured) 
               
               
                 Eccentricity 
                 τ e   
                 Eccentric torque 
                 N · m 
               
               
                   
                 m 
                 Eccentric mass 
                 Kg 
               
               
                   
                 g 
                 gravitational acceleration 
                 m/s 2   
               
               
                   
                 R 
                 Radius of steering wheel 
               
               
                   
               
            
           
         
       
     
     Here, in steering system dynamics, an input of the steering system may be a torsion bar torque, and an output of the steering system may be a steering angle. 
     A state equation for the steering wheel, that is, the augmented reduced order state equation for the steering wheel, can be expressed as Equation 1. That is, the steering angle of the steering wheel, the steering angular speed of the steering wheel, and driver torque are determined as state variables, and the state equation of the steering wheel can be calculated based on the state variables, a torsion bar torque detected by the steering torque sensor, a steering angle detected by the steering angle sensor, and an eccentric torque of the steering wheel. 
     
       
         
           
             
               
                 
                   
                     
                       z 
                       . 
                     
                     a 
                   
                   = 
                   
                     
                       
                         A 
                         new 
                       
                       ⁢ 
                       
                         z 
                         a 
                       
                     
                     + 
                     
                       
                         B 
                         new 
                       
                       ⁡ 
                       
                         ( 
                         
                           
                             τ 
                             t 
                           
                           + 
                           
                             τ 
                             e 
                           
                         
                         ) 
                       
                     
                     + 
                     
                       
                         B 
                         w 
                       
                       ⁢ 
                       
                         
                           τ 
                           . 
                         
                         drv 
                       
                     
                   
                 
               
               
                 
                   [ 
                   
                     Equation 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     1 
                   
                   ] 
                 
               
             
             
               
                 
                   y 
                   = 
                   
                     
                       C 
                       new 
                     
                     ⁢ 
                     
                       z 
                       a 
                     
                   
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   
                     z 
                     a 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               τ 
                               dvr 
                             
                           
                           
                             
                               θ 
                               sw 
                             
                           
                           
                             
                               ω 
                               sw 
                             
                           
                         
                       
                       ] 
                     
                     T 
                   
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   
                     
                       A 
                       new 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             0 
                           
                           
                             0 
                           
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                           
                             0 
                           
                           
                             1 
                           
                         
                         
                           
                             
                               1 
                               
                                 J 
                                 sw 
                               
                             
                           
                           
                             0 
                           
                           
                             
                               - 
                               
                                 
                                   B 
                                   sw 
                                 
                                 
                                   J 
                                   sw 
                                 
                               
                             
                           
                         
                       
                       ] 
                     
                   
                   , 
                   
                     
                       B 
                       new 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                         
                         
                           
                             
                               - 
                               
                                 1 
                                 
                                   J 
                                   sw 
                                 
                               
                             
                           
                         
                       
                       ] 
                     
                   
                   , 
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   
                     
                       B 
                       w 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             1 
                           
                         
                         
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                         
                       
                       ] 
                     
                   
                   , 
                   
                     
                       C 
                       new 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             0 
                           
                           
                             1 
                           
                           
                             0 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                     
                 
               
             
           
         
       
     
       FIG. 8  illustrates an observer according to aspects of the present disclosure. 
     Referring to  FIG. 8 , the torque estimation apparatus  300  according to aspects of the present disclosure may be referred to as a full-states &amp; disturbance observer. 
     Referring to block S 3  of  FIG. 8 , in block S 3 , a driver torque, a steering angle of the steering wheel, and a steering angular velocity of the steering wheel can be estimated based on a torsion bar torque detected by the steering torque sensor  241 , and a steering angle detected by the steering angle sensor  242 , and an eccentric torque of the steering wheel in block S 2 . 
     That is, in block S 3 , the state variables (the driver torque, the steering angle of the steering wheel and the angular velocity of the steering wheel) can be estimated based on the state equation for the steering wheel calculated in  FIG. 7 , first to third proportional gains (l 1  to l 3 ), the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. 
     The state variable observer in block S 3  can be expressed as Equation 2. 
     
       
         
           
             
               
                 
                   
                     
                       z 
                       
                         ⋒ 
                         . 
                       
                     
                     a 
                   
                   = 
                   
                     
                       
                         A 
                         new 
                       
                       ⁢ 
                       
                         
                           z 
                           ^ 
                         
                         a 
                       
                     
                     + 
                     
                       
                         B 
                         new 
                       
                       ⁡ 
                       
                         ( 
                         
                           
                             τ 
                             t 
                           
                           + 
                           
                             τ 
                             e 
                           
                         
                         ) 
                       
                     
                     + 
                     
                       L 
                       ⁡ 
                       
                         ( 
                         
                           y 
                           - 
                           
                             y 
                             ^ 
                           
                         
                         ) 
                       
                     
                   
                 
               
               
                 
                   [ 
                   
                     Equation 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     2 
                   
                   ] 
                 
               
             
             
               
                 
                   
                     where 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     L 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               l 
                               1 
                             
                           
                         
                         
                           
                             
                               l 
                               2 
                             
                           
                         
                         
                           
                             
                               l 
                               3 
                             
                           
                         
                       
                       ] 
                     
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     is 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     kalman 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     filter 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     
                       gain 
                       . 
                     
                   
                 
               
               
                 
                     
                 
               
             
           
         
       
     
     Referring to block S 4 , in block S 4 , an eccentric mass of the steering wheel can be estimated based on the Machine Learning Algorithm. 
     First, the machine learning algorithm for eccentric mass learning of the steering wheel may require the following preconditions. 
     {circle around (1)} No load condition (Make sure the steering wheel be free body.) 
     {circle around (2)} Exciting torque as sin sweep signal 
     Further, the machine learning algorithm for the eccentric mass learning of the steering wheel can calculate a standard deviation of driver torques, and estimate the eccentric mass of the steering wheel based on the standard deviation of the driver torques. 
     An equation for calculating the standard deviation of driver torques can be expressed as Equation 3. 
       τ drv ≈( m−{circumflex over (m)}   old ) gR  sin(θ sw )
 
       σ=√{square root over ( E (({circumflex over (τ)} drv   −E ({circumflex over (τ)} drv )) 2 ))}  [Equation 3]
 
     where E is mean value and σ is standard deviation. 
     An equation for estimating the eccentric mass of the steering wheel based on the standard deviation of the drivers torques can be expressed as Equation 4. 
         {circumflex over (m)}   new   ={circumflex over (m)}   now   K   step (σ now −σ old )  [Equation 4]
 
     where K step  is machine learning update gain. 
     Referring to block S 1 , in block S 1 , estimator gains, that is, first to third proportional gains, and the eccentric mass of the steering wheel can be updated. 
     In particular, the estimator gains, that is, the first to third proportional gains can be determined through a kalman filter. The Kalman filter equation can be expressed as Equation 5. 
         K =kalman( A   new   C   new   ,W,V )  [Equation 5]
 
     Referring to block S 2 , in block S 2 , the eccentric torque of the steering wheel can be calculated. 
     An equation for calculating the eccentric torque of the steering wheel can be expressed as Equation 6. 
       τ e   =mgR  sin( y )  [Equation 6]
 
     m is mass of eccentric torque. 
     R is equivalent radius of steering wheel. 
     g is gravity acceleration. 
       FIG. 9  is a diagram for explaining the eccentric torque of the steering wheel included in the steering system according to aspects of the present disclosure. 
     Referring to  FIG. 9 , when the steering wheel rotates, the center of mass of the steering wheel may move from Cm to Cm′ based on a steering angle θsw detected by the steering angle sensor. Accordingly, the eccentric torque of the steering wheel  140  may be expressed as the multiplication of an eccentric mass (m) of the steering wheel, the gravity (g) acting on the eccentric mass (m) of the steering wheel, and a distance R between the rotational center (Cr) of the steering wheel and the mass center (Cm) of the steering wheel, and a steering angle (θsw) detected by the steering angle sensor with the sine shape. 
     Hereinafter, a steering assist method according to aspects of the present disclosure will be described with reference to accompanying drawings. The steering assist method according to aspects of the present disclosure may be performed through the torque estimation apparatus, the steering control apparatus, the steering assist apparatus, and the steering system. Thus, discussions on corresponding configurations equal, or substantially equal, to the torque estimation apparatus, the steering control apparatus, the steering assist apparatus, and the steering system described above with reference to  FIGS. 1 to 9  will be omitted for brevity and convenience of description. 
       FIG. 10  is a flow sequence illustrating the steering assist method according to aspects of the present disclosure. 
     Referring to  FIG. 10 , the steering assist method according to aspects of the present disclosure may include at least one of a torque estimation method S 100 , and a steering motor control method S 200 . 
     The torque estimation method S 100  according to aspects of the present disclosure may include at least one of estimating an eccentric mass of the steering wheel at step S 110 , updating at step S 120 , and estimating an eccentric torque of the steering wheel at step S 130 , and estimating a driver torque at step S 140 . 
     Specifically, the eccentric mass of the steering wheel can be estimated based on the driver torque, at step S 110 . 
     In particular, in step S 100 , the eccentric mass of the steering wheel can be estimated based on the driver torque through the machine learning algorithm. 
     For example, in step S 100 , a standard deviation of driver torques can be calculated, and an eccentric mass of the steering wheel can be estimated based on the standard deviation of the driver torques. 
     In this case, in step S 100 , the standard deviation of the driver torques can be calculated based on values of driver torques and a mean value of the driver torque values. 
     For example, in step S 100 , each deviation of driver torques can be calculated using values of driver torques and a mean value of the driver torque values, and a standard deviation of the driver torques can be calculated based on each deviation of driver torques. 
     That is, in step S 100 , each deviation of driver torques can be calculated by subtracting a mean value of the driver torques from each value of the driver torques, and then, the standard deviation of the driver torques can be calculated by taking the square root of a mean value of each value resulting from squaring each deviation of the driver torques. 
     In step S 100 , an eccentric mass of the steering wheel can be estimated based on a current standard deviation value and a previous standard deviation value for driver torques. 
     For example, in step S 100 , the eccentric mass of the steering wheel can be estimated by multiplying a difference value between a current standard deviation value and a previous standard deviation value for driver torques, a gain value for the eccentric mass of the steering wheel, and a current eccentric mass value of the steering wheel. 
     Thereafter, an eccentric torque of the steering wheel can be estimated based on the eccentric mass of the steering wheel using a steering angle detected by the steering angle sensor, at step S 130 . 
     In step S 130 , the eccentric torque of the steering wheel can be estimated based on the eccentric mass of the steering wheel using a steering angle detected by the steering angle sensor. 
     For example, in step S 130 , the eccentric torque of the steering wheel caused by gravity acting on the eccentric mass of the steering wheel can be estimated using the steering angle detected by the steering angle sensor. 
     Specifically, in step S 130 , the eccentric torque of the steering wheel can be estimated by using (e.g., multiplying) an eccentric mass of the steering wheel, gravity acting on the eccentric mass of the steering wheel, a distance between the rotation center of the steering wheel and the mass center of the steering wheel, and a steering angle detected by the steering angle sensor with a sine shape. 
     Thereafter, a steering motor control signal can be generated based on a driver torque in which the eccentric torque of the steering wheel is reflected, and the operation of a steering motor can be controlled by controlling the steering motor power supply based on the steering motor control signal, at step S 200 . 
     Meanwhile, in step S 120  after step S 110 , the eccentric mass of the steering wheel can be updated. In step S 120 , the updated eccentric mass of the steering wheel can be stored in a memory. 
     Thus, in step S 130 , an eccentric torque of the steering wheel can be estimated based on the updated eccentric mass of the steering wheel using the steering angle detected by the steering angle sensor. 
     After step S 130 , a steering angle of the steering wheel, a steering angular velocity of the steering wheel, and a driver torque can be estimated based on a steering torque detected by the steering torque sensor, the steering angle detected by the steering angle sensor, and the eccentric torque of the steering wheel, at step S 140 . 
     For example, in step S 140 , the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque can be determined as state variables; a state equation for the steering wheel can be calculated based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel; and the state variables (the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque) can be estimated based on the state equation for the steering wheel, first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. 
     Meanwhile, in step S 120  after step S 110 , the first to third proportional gains can be updated. Thus, in step S 140 , the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque can be determines as state variables; the state equation for the steering wheel can be calculated based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel; and the state variables (the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torque) can be estimated based on the state equation for the steering wheel, updated first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. 
     In step S 120 , the first to third proportional gains can be determined and updated through the kalman filter. 
     The conventional steering system that estimates a steering intention of a driver through information on a steering torque detected by the steering torque sensor has a disadvantage of having a poor accuracy of steering control due to an inaccurate estimation for the steering intention of the driver because an eccentric torque of the steering wheel generated by the eccentricity of the steering wheel is not reflected in the steering torque information; in contrast, the torque estimation apparatus, the steering control apparatus, the steering assist apparatus, the steering system, and the steering assist method according to aspects of the present disclosure can provide advantages of improving the accuracy of steering control because the steering intention of the driver can be more accurately estimated, by estimating the eccentric torque of the steering wheel through the machine learning algorithm, and then estimating state variables including a driver torque in which the estimated eccentric torque of the steering wheel is reflected. 
       FIG. 11  is a block diagram of a computer system for the torque estimation apparatus, the steering control apparatus, the steering assist apparatus, and the steering system according to aspects of the present disclosure. 
     Referring to  FIG. 11 , the embodiments described above may be implemented in the computer system, for example, in a computer-readable storage medium. As shown in  FIG. 13 , the computer system  1000  implementing functions of the torque estimation apparatus, the steering control apparatus, the steering assist apparatus, the steering system, and the like may include at least one or more of one or more processors  1010 , one or more memories  1020 , one or more storages  1030 , and one or more user interface input portions  1040 , one or more user interface output portions  1050 , and the like, which can communicate with one another via buses  1060 . Further, the computer system  1000  may also include a network interface  1070  for accessing a network. The processor  1010  may be a CPU or a semiconductor device for executing processing instructions stored in the memory  1020  and/or the storage  1030 . The memory  1020  and the storage  1030  may include various types of volatile/non-volatile storage media. For example, the memory may include ROM  1024  and RAM  1025 . 
     Accordingly, the embodiments described herein may be implemented in a computer-implemented method or with one or more non-volatile computer-readable media in which computer-executable instructions are stored. When executed by a processor, these instructions can perform the at least one method according to the at least one of the embodiments described herein. 
     The above description has been presented to enable any person skilled in the art to make and use the technical idea of the present disclosure, and has been provided in the context of a particular application and its requirements. Various modifications, additions and substitutions to the described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. The above description and the accompanying drawings provide an example of the technical idea of the present disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical idea of the present disclosure. Thus, the scope of the present disclosure is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the claims. The scope of protection of the present disclosure should be construed based on the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included within the scope of the present disclosure.