Mixed steering assistance comprising a torque control loop setpoint-piloted by a position controller intended for path control

Abstract

A method for managing a power steering system including at least one steering wheel and at least one assist motor, the method including a step of driver torque control, which involves evaluating a driver torque difference that corresponds to the difference between a predefined driver torque setpoint and the actual driver torque actually exerted by the driver on the steering wheel, then determining an engine torque setpoint for torque applied to the assist motor in order to reduce the driver torque difference, the driver torque setpoint being generated during a trajectory control step, which involves evaluating a trajectory difference, for example a position difference, which corresponds to the difference between a trajectory setpoint, of the position setpoint type, which depends on a reference trajectory, and the actual trajectory of the vehicle, given by the measured position of the power steering, then determining, from the trajectory difference, a driver torque setpoint intended to reduce the trajectory difference.