Patent ID: 9085316
Filing Date: 2015-07-21
Classification: B62D

Abstract:
1. A system comprising: an electric power assisted steering (EPS) system for a vehicle; and a control module that controls a steering actuator motor of the EPS system, the control module comprising a processor that executes: a learning function configured to determine a plurality of piecewise linear function coefficients based on measured data for the EPS system, the piecewise linear function coefficients determined in real-time while the EPS system is in operation, the measured data comprising a vehicle speed, the learning function further configured to model a hysteresis loop of the EPS system using a piecewise linear function based on the plurality of piecewise linear function coefficients to determine an average friction; and an average friction change compensator configured to adjust friction-based EPS system compensation based on the average friction, wherein an interested vehicle speed range is divided into a plurality of vehicle speed intervals and the average friction is determined separately for each of the vehicle speed intervals.