GRADUAL DETECTION OF THE APPEARANCE OF TORQUE STEER

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 motorapplying an assist torque (CRP) 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 (GA) 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 (CR), and a step of multiplying (4) the assist torque associated with the return function (CR) and the application gain (GA), 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 (alphaD) and the difference in the rotation speeds (VR) of the at leasttwo wheels. 本发明涉及一种用于在车辆中逐