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Providing assist torque without hand wheel torque sensor for zero to low vehicle speeds

  • US 9,409,595 B2
  • Filed: 09/15/2014
  • Issued: 08/09/2016
  • Est. Priority Date: 09/15/2014
  • Status: Active Grant
First Claim
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1. A method of controlling an electric power steering system of a vehicle, the method comprising:

  • filtering a hand wheel angle with a low-pass filter;

    filtering a hand wheel velocity with a low-pass filter;

    determining that one or more hand wheel torque sensors of the vehicle are not enabled;

    estimating steering rack force caused by a tire of the vehicle and a surface of a ground with which the tire is in contact with the filtered hand wheel angle and the filtered hand wheel velocity;

    generating a steering assist torque command based on the estimated steering rack force; and

    controlling the electric power steering system using the steering assist torque command.

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