Systematic abnormality detection in control commands for controlling power steering system

A system of a vehicle comprising:

• a power steering system that operates as commanded by control commands;
• a control module configured to:
• receive a first control command;
• generate a range signal indicative of a range of command values based on a plurality of input signals;
• generate a second control command based on a subset of the plurality of input signals;
• determine whether the first control command is out of the range for longer than a predetermined duration of time;
• and
• send the second control command to the power steering system in response to determining the first control command is out of the range for longer than the predetermined duration of time, wherein the control module is further configured to:
• in response to determining that the first control command is out of the range for shorter than or equal to the predetermined duration of time, limit the first control command to the range, generate a scale factor signal by starting to increase a scale factor from an initial value as soon as the first control command goes out of the range, generate a damping command based on a vehicle velocity signal and the scale factor signal, blend the limited first control command with the damping command, and send the blended command to the power steering system;
• in response to determining that the first control command is out of the range for longer than the predetermined duration of time, send the second control command to the power steering system;
• and
• generate an amount of assist torque by the power steering system based on the blended command or the second control command.