Patent ID: 9037353
Filing Date: 2015-05-19
Classification: B62D

Abstract:
1. A method for controlling a torque of an electric power steering (EPS) system of a vehicle, comprising: determining, using a state of a lateral movement of the vehicle, current torques acting on the vehicle and a torque applied on the steering wheel by a driver, constraints defining a range of values of the torque of the EPS system satisfying the constraints, wherein the constraints include at least one constraint on an effect of the torque of the EPS system on the steering wheel, wherein the constraint on the effect includes a constraint on a minimal value and a constraint on a maximal value of the torque of the EPS system in relation to the torque applied on the steering wheel by a driver, wherein the minimal and the maximal values of the constraint on the effect are determined from the current torques acting on the vehicle; selecting a value of the torque within the range of values based on an objective of the movement of the vehicle; commanding a motor of the EPS system to generate the torque according to the value of the torque; and repeating the determining, the selecting and the commanding steps in response to a change of at least one of the state of the steering wheel, the state of the EPS system and the state of the vehicle, such that the constraints defining the range of values of the torque of the EPS system are different for at least two different time periods.