power steering hacking

I have a 2006 prius, and am wondering if any one knows where the power steering is located at, how hard would it be to get to, what am I am looking at as far as being able to switch to some sort of drive by wire for the steering.
I know its on the column some where I am just wording how much of my dash I need to disassemble to get to it.

one step to getting my Prius to drive its self.
going to use rang sensors
GPS and line fallowing cams to track the road.

My plan is to get the car to stay in among lines of a free way during good weather and have a somewhat self driving car.
I am just finishing up on the adaptive cruse control using a custom ultrasonic Distance Meter. I will have some plans up for it as soon is I get it working right.

I am running all this off the Make Controller Kit and programing for the time being in processing
for its grate A/V libraries.

If any one wants to help or know of any one else attempting this with there Prius let me know.

 

This is not what I am looking for.
The prius has Electronic Power Steering and I am thinking that it would be simpler to just tap into that.
My plan is not to have a full time drive by wire.
The plan is to have the ability to lets say flip a switch and instead of having just cruse control but to to have the car keep its self between the lines.
Manley for long strait roads.

You cant remove the wheel for you still need it for general driving.
but that did cross my mind but why use more hardware thats already there and connected and nicely stored away for you?

 

Ok will be waking up early tomorrow to try to find the "Torque Sensor".
I will try to "steer" with my laptop, im thinking i jsut need to see how the "Torque Sensor" output there there should be no need for additional hardware, but maybe a plug assembly for the final clean up.

thanks for the PDF.

O and lexus!! the fact that they remove all the really cool stuff form the prius in the US and the lexus get them...

 

The plan is to have some sort of mandatory button to be depressed and yes there will all was be a driver in the seat. Good point on the laws. I have a privet road I can test on but to test it on the public road might require some sort of permit or something...
Any one know the laws in Oregon for testing experimental automobiles?

 

After hunting around all morning for the "Torque Sensor".
I found one set of wires coming off the steering column that I can only assume this is it. but I have no why of getting to it to confirm this without removing the steering weal. The other place it could be would be servo motor which has 2 mane power lines as well as 4 small wire going up to a box labeled 89650-47102 EPS LH this box all so has 2 black and 2 white wires coming to it, as will as power in wires.

This photo show that connector I can not enplane think its the sensor I am looking for, don't know the pinout for it.


Hear is the power steering that brown cord is the Power add the green one is the 4 wires, they both go back up to the EPS box. I am thinking there some sort of rotational sensors to feed back to the EPS box in the same way a hobby servo dues.


hear is the EPS box you can see the power coming in big white and white/black to the far left then the output power cable to the PS raped in brown plastic and then the black and wight wires and lastly the 4 PS(sensor?) wires. I am thinking it might be simpler to just build a new EPS box to go inbetwen this box and the PS. Using a few realeays for safty and some and interject my own commands to the PS.
any one have any way of getting a hold of the schematics for the EPS?

 

Ok something interesting thing happened
putting car back together after confirmed that every thing was working and that there where no "lights" on that should not be.
I diced to diconect the "unknown plug" and see if it was in fact the "torque sensor" truing back on the car I get an VSC light. but the power steering is still functional.
So I am thinking the "torque sensor" may be the 4 wires in the green plastic?
Do not know what the "unknown plug" is for, but seams it has something to do with the VSC?

 

Thank you the best $10 I Have spent.