A method for controlling vehicle lane holding for a vehicle comprising an electric power assisted steering by means of a steering system with a steering assistance actuator and one or more controllable vehicle state actuators and comprising an on-board vision system, incorporating the steps of: - measurement, with the aid of the on-board vision system, using one or more sensors of at least one vehicle position input signal representing one or more vehicle states, - determination, in a relative vehicle position calculation function or means, from said one or more measured vehicle position input signals of a relative vehicle lane position in the form of a lane curvature and/or a lane curvature derivative, - calculation, in the relative vehicle position calculation function or means, of a target lateral state vector consisting of one or more of the following target values; a target yaw and/or lateral vehicle state and a derivative of said target yaw and/or lateral vehicle state, - measurement of at least one steering input signal with the aid of a sensor, - determination in a driver torque calculation function or means, from said one or more measured steering input signals, of a torque value applied by the driver via a steering wheel, characterized in that method further comprises the steps of: - transformation, in a target relative vehicle state calculation means or function, of said torque value applied by the driver to a, relative to the afore-mentioned target lateral state vector, target delta lateral state vector, consisting of one or more of the following target delta values; a target delta yaw and/or lateral vehicle state and a derivative of said target delta yaw and/or lateral vehicle state, - adding said target lateral state vector and said target delta lateral state vector together to form a mixed control target lateral state vector, - using the from the addition resulting mixed control target lateral state vector as reference signal to one or more controllers for the control of the one or more vehicle state actuators, thus adding the ability to add a driver input in order to make the driver being able to control the vehicle lane position. - measurement, with the aid of the on-board vision system, using one or more sensors of at least one vehicle position input signal representing one or more vehicle states, - determination, in a relative vehicle position calculation function or means, from said one or more measured vehicle position input signals of a relative vehicle lane position in the form of a lane curvature and/or a lane curvature derivative, - calculation, in the relative vehicle position calculation function or means, of a target lateral state vector consisting of one or more of the following target values; a target yaw and/or lateral vehicle state and a derivative of said target yaw and/or lateral vehicle state, - measurement of at least one steering input signal with the aid of a sensor, - determination in a driver torque calculation function or means, from said one or more measured steering input signals, of a torque value applied by the driver via a steering wheel, - transformation, in a target relative vehicle state calculation means or function, of said torque value applied by the driver to a, relative to the afore-mentioned target lateral state vector, target delta lateral state vector, consisting of one or more of the following target delta values; a target delta yaw and/or lateral vehicle state and a derivative of said target delta yaw and/or lateral vehicle state, - adding said target lateral state vector and said target delta lateral state vector together to form a mixed control target lateral state vector, - using the from the addition resulting mixed control target lateral state vector as reference signal to one or more controllers for the control of the one or more vehicle state actuators, thus adding the ability to add a driver input in order to make the driver being able to control the vehicle lane position.