GRADUAL DETECTION OF THE APPEARANCE OF TORQUE STEER

摘要

The invention relates to a method for the gradual activation and deactivation of a steering return function in a vehicle, said vehicle comprising at least two wheels, a steering wheel, an assist motor applying an assist torque (C_RP) to a steering rack, and a drive motor applying a wheel torque to the at least two wheels, said method comprising a step of calculating (1) an application gain (G_A) including a first phase (11) of determining a first gain (G₁) dependent on the wheel torque of at least one of the two wheels, a step of estimating (2) the assist torque associated with the return function (C_R), and a step of multiplying (4) the assist torque associated with the return function (C_R) and the application gain (G_A), characterised in that during the application gain (GA) calculation step (1) the method also includes a second phase (12) of determining a second gain (G₂) dependent on the angle of the steering wheel (α_D) and the difference in the rotation speeds (V_R) of the at least two wheels.