Method for Intelligent scaling of torque overlay intervention for a semi-autonomous steering system in a road vehicle having a semi-autonomous steering function arranged to selectively apply a steering wheel overlay torque (T c), comprising the steps of: determining if there is an active intervention from the semi-autonomous steering function, and a consequently applied steering wheel overlay torque (T c), (100, 101, T1); characterized in that it further comprises the steps of: if determined that there is an active intervention, scaling the overlay torque (T c) by a scaling factor (α) being a function of an applied steering wheel torque (T a), and deciding if the driver is significantly overriding the intervention and the duration of the overriding (102, T2); if decided that the driver is significantly overriding the intervention the overlay torque (T c) is scaled by a scaling factor (α) being a function of the applied steering wheel torque (T a); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined first time period (t a) the scaling factor (α) is set to its lowest possible value for the specific driving situation (T3, 105); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined second time period (t b), where the pre-determined second time period (t b) is equal to or exceeds (t b ≥ t a) the pre-determined first time period (t a) the scaling factor (α) is faded-out (T4, 106). determining if there is an active intervention from the semi-autonomous steering function, and a consequently applied steering wheel overlay torque (T c), (100, 101, T1); characterized in that it further comprises the steps of: if determined that there is an active intervention, scaling the overlay torque (T c) by a scaling factor (α) being a function of an applied steering wheel torque (T a), and deciding if the driver is significantly overriding the intervention and the duration of the overriding (102, T2); if decided that the driver is significantly overriding the intervention the overlay torque (T c) is scaled by a scaling factor (α) being a function of the applied steering wheel torque (T a); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined first time period (t a) the scaling factor (α) is set to its lowest possible value for the specific driving situation (T3, 105); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined second time period (t b), where the pre-determined second time period (t b) is equal to or exceeds (t b ≥ t a) the pre-determined first time period (t a) the scaling factor (α) is faded-out (T4, 106). if determined that there is an active intervention, scaling the overlay torque (T c) by a scaling factor (α) being a function of an applied steering wheel torque (T a), and deciding if the driver is significantly overriding the intervention and the duration of the overriding (102, T2); if decided that the driver is significantly overriding the intervention the overlay torque (T c) is scaled by a scaling factor (α) being a function of the applied steering wheel torque (T a); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined first time period (t a) the scaling factor (α) is set to its lowest possible value for the specific driving situation (T3, 105); if decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined second time period (t b), where the pre-determined second time period (t b) is equal to or exceeds (t b ≥ t a) the pre-determined first time period (t a) the scaling factor (α) is faded-out (T4, 106).