Methods and systems for end of travel harshness reduction

1. A control system for controlling a steering system, the control system comprising:

a first module that estimates a command adjust value based on a hand wheel state that indicates a hand wheel position of the steering system relative to an end of travel region; and

a second module that generates a motor assist command based on the command adjust value to control the steering system.

2. The control system of claim 1 wherein the command adjust value is a gain value.

3. The control system of claim 2 wherein the second module multiplies motor torque by the gain value to generate the motor assist command.

4. The control system of claim 2 wherein the first module further estimates the gain value based on a hand wheel range and further comprising a third module that determines the hand wheel range based on at least one of the current hand wheel position, and transmission gear.

5. The control system of claim 2 wherein the first module further estimates the gain value based on a hand wheel angle and further comprising a third module that determines the hand wheel angle based on at least one of the current hand wheel position, the hand wheel range, and transmission gear.

6. The control system of claim 1 further comprising a third module that determines the hand wheel state to be at least one of entering an end of travel region, exiting the end of travel region, operating within the end of travel region, and operating outside of the end of travel region.

7. The control system of claim 1 wherein the command adjust value is a damping value.

8. The control system of claim 7 wherein the first module estimates the damping value based on at least one of the current hand wheel position, a sign of the current hand wheel position, motor velocity, and hand wheel torque.

9. The control system of claim 7 wherein the second module subtracts the damping value from motor torque to generate the motor assist command.

10. A method of controlling a steering system, the method comprising:

estimating a command adjust value based on a hand wheel state that indicates a hand wheel position of the steering system relative to an end of travel region; and

generating a motor assist command based on the command adjust value to control the steering system.

11. The method of claim 10 wherein the estimating the command adjust value further comprises estimating a gain value as the command adjust value.

12. The method of claim 11 further comprising multiplying motor torque by the gain value, and wherein the generating the motor assist command is based on a result of the multiplying.

13. The method of claim 10 further comprising determining the hand wheel state to be at least one of entering an end of travel region, exiting the end of travel region, operating within the end of travel region, and operating outside of the end of travel region.

14. The method of claim 10 further comprising determining a hand wheel angle based on at least one of the current hand wheel position, the hand wheel position range, and transmission gear, and wherein the estimating the command adjust value is further based on the hand wheel angle.

15. The method of claim 10 further comprising determining a hand wheel range based on at least one of the current hand wheel position, and transmission gear, and wherein the estimating the command adjust value is further based on the hand wheel range.

16. The method of claim 10 wherein the estimating the command adjust value further comprises estimating a damping value as the command adjust value.

17. The method of claim 16 wherein the estimating the damping value is based on the current hand wheel position, a sign of the current hand wheel position, motor velocity, and hand wheel torque.

18. The method of claim 16 further comprising subtracting the damping value from motor torque, and wherein the generating the motor assist command is based on a result of the subtracting.