Vehicle steering system with angled road surface compensation

A method of operating a steering system on a vehicle, the method comprising:

• determining a counter-torque to apply to a steering system with a leads and pulls compensation system based on an input to a steering wheel on the vehicle;
• applying the counter-torque to the steering system on the vehicle;
• determining an operating status of an advanced driver-assistance system on the vehicle;
• determining an angle of a road surface supporting the vehicle with a plurality of sensors on the vehicle when the advanced driver-assistance system is activated;
• and
• applying an updated counter-torque to the steering system when the advanced driver-assistance system is activated at least one of a magnitude or direction of the angle of the road surface.

A vehicle comprising:

• a steering system configured to change a road angle with respect to at least one of a plurality of wheels;
• a plurality of sensors;
• and
• a controller in communication with the plurality of sensors and the steering system, wherein the controller is configured to:
• determine a counter-torque to apply to the steering system with a leads and pulls compensation system based on an input to a steering wheel on the vehicle;
• apply the counter-torque to the steering system;
• determine an operating status of an advanced driver-assistance system on the vehicle;
• determine an angle of a road surface supporting the vehicle based on a plurality of sensors on the vehicle when the advanced driver-assistance system is activated;
• and
• apply an updated counter-torque to the steering system when the advanced driver-assistance system is activated and at least one of a magnitude or a direction of the angle of the road surface changes.