Volvo Autonomous Solutions Ab

Dandan Ge

Emil Klintberg

Robert Hult

There is provided mechanisms for compensating for backlash in a steering house of a steering system in a vehicle. A method is performed by a controller of the steering system. The method comprises obtaining a hysteresis model of the backlash in the steering house. The hysteresis model has an inverse. The method comprises obtaining a control signal to be input to an electric motor of the steering system. The control signal defines a desired set point for the steering system. The method comprises determining an adjusted set point for the steering system based on the inverse of the hysteresis model, the desired set point, and a current operating point in the hysteresis model. The adjusted set point defines an adjusted control signal. The method comprises compensating for the backlash in the steering house by providing the adjusted control signal, instead of the control signal, as input to the electric motor.

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Torslanda, Sweden

Dandan Ge