ASSISTIVE TORQUE CALCULATION METHOD AND SYSTEM, PROGRAM, STORAGE MEDIUM, AND VEHICLE

A computer-implemented assistive torque calculation method for calculating an assistive torque (Tc(k)) to be applied to a steering unit of a vehicle, in addition to a driver torque (DTk). The method comprises:S12) determining optimal values (Tc(k)) of the assistive torque over a time horizon (Np) using a Model Predictive Control solver (MPC); andS14) outputting the optimal value (Tc(k)) determined for the next time point (tk+1); whereina prediction unit of the MPC solver (MPC) comprises a driver torque prediction unit (DTP) and a vehicle behaviour prediction unit (VBP);the driver torque prediction unit (DTP) being configured to predict a predicted driver torque (Tact);the vehicle behaviour prediction unit (VBP) being configured to output an estimated state of the vehicle at the next time point (tk+1).The invention further encompasses a system, a program, a data storage medium, a vehicle, adapted to perform the assistive torque calculation method.