Drive-related skewing effects compensating method for motor vehicle, involves identifying earnings per share by using basic assist torque and compensation torque, which counteracts pulling to side

摘要

The method involves determining an effective transmission ratio of a drive motor (nMot) and vehicle velocity according to rotation speed. A guidance specific correction factor is determined by using a manual torque, an earnings per share (EPS) motor torque (EPSMot) and an internal EPS coefficient of friction (EPSR). A joint-specific compensation torque is identified based on determined joint-specific correction factor. The EPS motor torque is identified by using a basic assist torque (MBasis) and a compensation torque (MKomp), which counteracts pulling to a side. An independent claim is also included for a computer program product having a set of instructions for compensating drive-related skewing effects in a motor vehicle.