Patent ID: 7433768

Claim:
A method of determining a steering torque for the steering wheel of a motor vehicle, wherein a steering angle for the steered wheels is predefined by a driver of the vehicle by means of the steering wheel using a continuous mechanical connection between the steering wheel and the steered wheels, whereby an actual steering-wheel torque (M_ist) which represents the actual forces on the vehicle axle is active, said steering wheel torque being caused as a result of the continuous mechanical connection existing between the steering wheel and the steered wheels, and wherein a plurality of axle models representing characteristics of an axle of the motor vehicle are provided, an actual driving situation is determined from measured values, one of the axle models is selected as a selected axle model that is more favorable for the actual driving situation than one or more other axle models, a desired manual torque (M_soll) is determined using the selected axle model, and a steering actuator is actuated responsive to any difference between the actual steering-wheel torque (M_ist) and the desired manual torque (M_soll) so as to adjust said actual steering wheel torque (M_ist) toward said desired manual torque (M_soll).