Method for determining the track rod force modeling the torsional elastic release of the tyre in order to manage transitions between park and drive

A method of evaluating an actuation force on a transmission member that is called force at tie rods when a vehicle transitions from a parking situation to a running situation, comprising:

• transitioning the vehicle from the parking situation to the running situation;
• and
• evaluating the force at the tie rods by a process comprising:
• initially estimating a value for the force at the tie rods to obtain an estimated value for the force at the tie rods;
• and
• correcting the estimated value for the force at the tie rods by reducing said estimated value, in absolute value, according to a longitudinal velocity of the vehicle (V_vehic) when the vehicle transitions from the parking situation, in which the longitudinal velocity of the vehicle (V_vehic) is zero, to the running situation, in which the longitudinal velocity of the vehicle (V_vehic) is non-zero, wherein:
• the vehicle is equipped with a power steering system comprising a steering mechanism that connects an actuator to a steered wheel that is orientable in yaw;
• the steered wheel carries a tire with a tread that is in contact with a ground;
• and
• the steering mechanism comprises the transmission member on which the actuation force is evaluated.