Method for compensating disturbance variable acting on automobile with auxiliary force supported steering, involves swapping fractional factor to common steering force error such that toothed rack compensation force is generated

摘要

The method involves estimating a toothed rack force and an artificial target-toothed rack force by an observer model of an auxiliary force supported steering of a vehicle. The estimated toothed rack force is subtracted from the estimated target-toothed rack force such that a common steering force error is generated. A fractional factor is determined based on signals of a steering angle speed and a steering angle. The factor is swapped to the common steering force error such that toothed rack compensation force is generated, where the compensation force is swapped to auxiliary force.