A method for controlling vehicle steering in a vehicle comprising a vehicle steering system (100; 100') comprising a feedback torque actuator arranged in series with an angle overlay actuator, the method comprising controlling said angle overlay actuator in such a way that a target overlay angle is achieved, wherein said feedback torque actuator is arranged above said angle overlay actuator, i.e. towards the steering wheel side, characterised in that the method comprises the steps of: - controlling said angle overlay actuator so that a variable steering ratio as well as an additional, controllable, overlay angle are provided, and - controlling said feedback torque actuator using a reference generator concept for steering feel being a closed loop control method where first a reference or target value is calculated and then steering assistance is controlled to minimize the error between the target value and a corresponding measured value by controlling the reference generator to minimise a steering feel control error such that a target steering feel, a feedback torque to vehicle response relation describing steering feel, is achieved using the reference generator closed loop control method comprising calculating a reference or target overlay angle value; then controlling the steering assistance of the feedback torque actuator to minimize the error between the target overlay angle value and a corresponding measured overlay angle and in such a way that a target steering feel is achieved, resulting in the angle overlay being controlled at the same time as the steering-wheel torque being controlled whereby a target overlay angle and a good steering feel is achieved, the step of controlling the feedback torque actuator comprising the steps of: - determining an actual steering angle and vehicle speed by using at least one input signal provided by means of a sensor; - using the actual steering angle and the vehicle speed to calculate a target steering-wheel torque; - transforming the target steering-wheel torque to a target motor current; - comparing the target motor current with a measured, actual motor current; - using a controller to minimize the difference between the target motor current and the measured, actual motor current. - controlling said angle overlay actuator so that a variable steering ratio as well as an additional, controllable, overlay angle are provided, and - controlling said feedback torque actuator using a reference generator concept for steering feel being a closed loop control method where first a reference or target value is calculated and then steering assistance is controlled to minimize the error between the target value and a corresponding measured value by controlling the reference generator to minimise a steering feel control error such that a target steering feel, a feedback torque to vehicle response relation describing steering feel, is achieved using the reference generator closed loop control method comprising calculating a reference or target overlay angle value; then controlling the steering assistance of the feedback torque actuator to minimize the error between the target overlay angle value and a corresponding measured overlay angle and in such a way that a target steering feel is achieved, resulting in the angle overlay being controlled at the same time as the steering-wheel torque being controlled whereby a target overlay angle and a good steering feel is achieved, the step of controlling the feedback torque actuator comprising the steps of: - determining an actual steering angle and vehicle speed by using at least one input signal provided by means of a sensor; - using the actual steering angle and the vehicle speed to calculate a target steering-wheel torque; - transforming the target steering-wheel torque to a target motor current; - comparing the target motor current with a measured, actual motor current; - using a controller to minimize the difference between the target motor current and the measured, actual motor current. - determining an actual steering angle and vehicle speed by using at least one input signal provided by means of a sensor; - using the actual steering angle and the vehicle speed to calculate a target steering-wheel torque; - transforming the target steering-wheel torque to a target motor current; - comparing the target motor current with a measured, actual motor current; - using a controller to minimize the difference between the target motor current and the measured, actual motor current.