Torque steer mitigation

A system for a mitigating torque steer in a vehicle, the system comprising:

• a plurality of vehicle sensors configured to sense data related to a vehicle steering system that includes a motor and a steering rack, a left wheel, and a right wheel;
• and
• an electronic processor communicatively connected to the plurality of vehicle sensors and configured to
• detect an occurrence of torque steering by:
• generating a left wheel torque model and a right wheel torque model for the vehicle,
• determining a first moment about the z-axis with respect to the left wheel of the vehicle (Mz_left) using the left wheel torque model,
• determining a second moment about the z-axis with respect to the right wheel of the vehicle (Mz_right) using the right wheel torque model,
• determining a steering torque as a sum of the first moment Mz_left and the second moment Mz_right,
• detecting the occurrence of torque steering based on a difference between the first moment Mz_left and the second moment Mz_right,
• in response to detecting an occurrence of torque steering, determine a compensation torque for the vehicle as a function of the steering torque and a gear ratio of the motor, and
• control the motor based on the compensation torque.