Reducing Holding Torque Function

If a holding torque is applied by the driver when driving the vehicle straight ahead, e.g. for a crosswind or on a road surface inclined on one side, the EPS control unit detects it.
The applied holding torque is partially compensated for by the EPS system.
To rule out incorrect compensation (e.g. highway bend with large radius), the EPS control unit receives the yaw rate signal and the side G signal from the electronic stability program control unit via CAN communication.
The reduction of the vehicle's holding torque depends on the speed.