Patent ID: 11919568
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 1:
2. A vehicle comprising:
a pair of turnable wheels with tires disposed therearound;
a steering system having steering linkage connecting a steering wheel to the pair of turnable wheels, the steering system having a steering-wheel torque sensor configured to monitor steering-wheel torque, a power-steering motor coupled with the steering linkage configured to provide torque into the steering system to turn the pair of turnable wheels, and a power-steering motor torque sensor configured to monitor power-steering motor torque; and
a controller programmed to control the steering system to perform an autopark maneuver and, upon sensing a driver providing torque to the steering wheel, stop the autopark maneuver and control the power-steering motor to maintain torque on the steering system to compensate for tire windup accumulated during the autopark maneuver, and ramp down the torque being provided to the steering system by the power-steering motor at a controlled variable rate over a predetermined period of time to prevent steering wheel snap.