The steering resistance torque decreases dramatically on low friction coefficient roads. It leads to the decrease of the steering torque, which can influence the road feel of drivers to a large extent and cause accidents easily. To address this problem, a current compensation control strategy was proposed to improve the road feel of drivers. Extended Kalman Filter method was used to estimate the lateral force of front axle on low friction coefficient roads. Based on the estimated lateral force, the compensation current was calculated correspondingly. Moreover, the simulation model was built in MATLAB/Simulink, and it was validated by comparing the data of real car experiment with model simulation. Finally, simulation results of different driving conditions show that the steering wheel torque is significantly improved so that the road feel on low friction coefficient roads is equal to that on normal roads by using the proposed control strategy, which can effectively prevent driver's maloperation and improve driving safety.