A steering system for a vehicle, the steering system comprising: - a steering gear; - two knuckles of two steerable wheels; - a steering actuator; - a plurality of sensors (5, 6); and - a processing unit; wherein, the steering gear is connected to a first knuckle of the two knuckles and the steering gear is connected to a second knuckle of the two knuckles, and wherein the connection between the steering gear and two knuckles comprises an output shaft of the steering gear; wherein, the steering gear is connected to the steering actuator, and wherein the connection between the steering gear and steering actuator comprises a torque transmitting unit or input shaft; wherein, the plurality of sensors are mounted at locations associated with the steering gear; wherein, each of the plurality of sensors is configured to acquire steering system position information; wherein, each of the plurality of sensors are configured to provide acquired steering system information to the processing unit; characterized in that at least one of the plurality of sensors is configured to measure a steering position on at least one of the two knuckles and/or associated connection rod; in that at least one of the plurality of sensors is configured to measure a steering position on the output shaft; and in that at least one of the plurality of sensors is configured to measure a steering position on the torque transmitting unit or input shaft. - a steering gear; - two knuckles of two steerable wheels; - a steering actuator; - a plurality of sensors (5, 6); and - a processing unit; wherein, the steering gear is connected to a first knuckle of the two knuckles and the steering gear is connected to a second knuckle of the two knuckles, and wherein the connection between the steering gear and two knuckles comprises an output shaft of the steering gear; wherein, the steering gear is connected to the steering actuator, and wherein the connection between the steering gear and steering actuator comprises a torque transmitting unit or input shaft; wherein, the plurality of sensors are mounted at locations associated with the steering gear; wherein, each of the plurality of sensors is configured to acquire steering system position information; wherein, each of the plurality of sensors are configured to provide acquired steering system information to the processing unit; characterized in that at least one of the plurality of sensors is configured to measure a steering position on at least one of the two knuckles and/or associated connection rod; in that at least one of the plurality of sensors is configured to measure a steering position on the output shaft; and in that at least one of the plurality of sensors is configured to measure a steering position on the torque transmitting unit or input shaft. wherein, the steering gear is connected to a first knuckle of the two knuckles and the steering gear is connected to a second knuckle of the two knuckles, and wherein the connection between the steering gear and two knuckles comprises an output shaft of the steering gear; wherein, the steering gear is connected to the steering actuator, and wherein the connection between the steering gear and steering actuator comprises a torque transmitting unit or input shaft; wherein, the plurality of sensors are mounted at locations associated with the steering gear; wherein, each of the plurality of sensors is configured to acquire steering system position information; wherein, each of the plurality of sensors are configured to provide acquired steering system information to the processing unit; characterized in that at least one of the plurality of sensors is configured to measure a steering position on at least one of the two knuckles and/or associated connection rod; in that at least one of the plurality of sensors is configured to measure a steering position on the output shaft; and in that at least one of the plurality of sensors is configured to measure a steering position on the torque transmitting unit or input shaft.