System and method of correcting torque offset of motor for motor-driven power steering system

A method of controlling a vehicle, the method comprising:

• determining a first set of measured torques of a steering motor of the vehicle driving on a lane having a first curvature, wherein the steering motor is configured to assist rotation of a steering wheel in the vehicle;
• determining a first set of required torques required for the steering motor such that the vehicle driving on the lane having the first curvature is driven within the lane;
• determining a first coefficient associating the first set of measured torques with the first set of required torques based on the determined first set of measured torques and the determined first set of required torques;
• determining whether a torque offset of the steering motor is present based on the first coefficient being within a preset coefficient range;
• and
• driving the steering motor after correcting the torque offset of the steering motor based on the first coefficient and the preset coefficient range,
• wherein the coefficient range is determined based on a first plurality of measured torque values of the steering motor measured when the vehicle is driving on a lane of each curvature in a plurality of curvatures under a first condition and a first plurality of demand torque values required to the steering motor to maintain the vehicle within the lane of each curvature.