A method of controlling steering of a vehicle having a steering input device; at least one turnable vehicle wheel; and a steering system having a lane keeping functionality that can be activated or deactivated, the steering system comprising: a steering request detector for receiving, from said steering input device, a driver request indicative of a desired wheel angle of said turnable vehicle wheel; an actuator for acting on said at least one turnable vehicle wheel to achieve said desired wheel angle; and a lane detecting arrangement for detecting a lane curvature ahead of said vehicle, said method comprising the steps of: acquiring, from said steering request detector, a signal indicative of said driver request; determining, based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling said actuator using said control signal; detecting an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring, from said lane detecting arrangement, a signal indicative of the lane curvature ahead of said vehicle; and controlling said actuator based on the lane curvature ahead of said vehicle. a steering request detector for receiving, from said steering input device, a driver request indicative of a desired wheel angle of said turnable vehicle wheel; an actuator for acting on said at least one turnable vehicle wheel to achieve said desired wheel angle; and a lane detecting arrangement for detecting a lane curvature ahead of said vehicle, said method comprising the steps of: acquiring, from said steering request detector, a signal indicative of said driver request; determining, based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling said actuator using said control signal; detecting an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring, from said lane detecting arrangement, a signal indicative of the lane curvature ahead of said vehicle; and controlling said actuator based on the lane curvature ahead of said vehicle. acquiring, from said steering request detector, a signal indicative of said driver request; determining, based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling said actuator using said control signal; detecting an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring, from said lane detecting arrangement, a signal indicative of the lane curvature ahead of said vehicle; and controlling said actuator based on the lane curvature ahead of said vehicle. transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring, from said lane detecting arrangement, a signal indicative of the lane curvature ahead of said vehicle; and controlling said actuator based on the lane curvature ahead of said vehicle.