Patent ID: 9079605
Filing Date: 2015-07-14
Classification: B62D

Abstract:
1. A method for controlling a steering system of a vehicle, comprising: receiving a measured hand wheel torque signal indicating a measured hand wheel torque of the steering system; determining a desired hand wheel static torque based on a measured vehicle speed and the measured hand wheel angle of the vehicle; determining a desired hand wheel damping torque based on the measured vehicle speed and a measured hand wheel velocity of the vehicle; generating a desired hand wheel torque signal by adding the desired hand wheel static torque and the desired hand wheel damping torque, the desired hand wheel torque signal being indicative of a desired hand wheel torque for the steering system; generating a hand wheel torque tracking error signal as a function of by comparing the measured hand wheel torque signal and the desired hand wheel torque signal; generating an on-center hand wheel angle control signal based on determining whether a measured hand wheel angle is at a center position, the center position being about zero degrees; generating a desired compensation torque signal to adjust an amount of motor torque applied to the steering system based on the hand wheel torque tracking error signal multiplied by a calibration constant; and adjusting the desired compensation torque signal based on the on-center hand wheel angle control signal, the desired compensation torque signal disabled responsive to an indication by the on-center hand wheel angle control signal that the measured hand wheel angle is at the center position.