A system for navigating a vehicle (200; 2701) having one or more steerable wheels, the system comprising: at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to: receive an output representing an environment surrounding the vehicle, provided by at least one vehicle sensor (120; 130); determine, based on the output provided by the at least one vehicle sensor (120; 130), at least one navigational maneuver for the vehicle along a road segment (2711; 2712); the system being characterised in that said instructions when executed by the circuitry cause the at least one processor to further: determine a yaw rate command and a vehicle speed command corresponding to a vehicle speed for implementing the navigational maneuver, wherein the yaw rate command is determined according to vehicle speed × a curvature command based on a target trajectory for the vehicle; using a first control subsystem implemented by the at least one processor, determine at least a first vehicle steering angle as arctan(L × curvature command) × Basic_Ratio/ (a 0 × Basic_Ratio+ a 1 × vehicle speed + a 2 × vehicle speed 2), wherein L is a wheelbase of the vehicle, a 0, a 1, a 2, and the Basic_Ratioare constants, and wherein the first control subsystem implements one or more feed-forward calculations based on at least one predetermined steering behavior characteristic associated with the vehicle, the steering behavior characteristic relating steering non-linearities to vehicle speed; using a yaw rate loop implemented by the at least one processor, determine at least a second vehicle steering angle based on the curvature command and the vehicle speed command, wherein the yaw rate loop is configured to determine the second vehicle steering angle based on a feedback loop that compares one or more values associated with the yaw rate command to one or more values associated with a measured vehicle yaw rate; determine an overall steering command for the vehicle (200; 2701) based on a combination of the first vehicle steering angle and the second vehicle steering angle; and cause at least one actuator associated with the vehicle to implement the overall steering command via the one or more steerable wheels. receive an output representing an environment surrounding the vehicle, provided by at least one vehicle sensor (120; 130); determine, based on the output provided by the at least one vehicle sensor (120; 130), at least one navigational maneuver for the vehicle along a road segment (2711; 2712); the system being characterised in that said instructions when executed by the circuitry cause the at least one processor to further: determine a yaw rate command and a vehicle speed command corresponding to a vehicle speed for implementing the navigational maneuver, wherein the yaw rate command is determined according to vehicle speed × a curvature command based on a target trajectory for the vehicle; using a first control subsystem implemented by the at least one processor, determine at least a first vehicle steering angle as arctan(L × curvature command) × Basic_Ratio/ (a 0 × Basic_Ratio+ a 1 × vehicle speed + a 2 × vehicle speed 2), wherein L is a wheelbase of the vehicle, a 0, a 1, a 2, and the Basic_Ratioare constants, and wherein the first control subsystem implements one or more feed-forward calculations based on at least one predetermined steering behavior characteristic associated with the vehicle, the steering behavior characteristic relating steering non-linearities to vehicle speed; using a yaw rate loop implemented by the at least one processor, determine at least a second vehicle steering angle based on the curvature command and the vehicle speed command, wherein the yaw rate loop is configured to determine the second vehicle steering angle based on a feedback loop that compares one or more values associated with the yaw rate command to one or more values associated with a measured vehicle yaw rate; determine an overall steering command for the vehicle (200; 2701) based on a combination of the first vehicle steering angle and the second vehicle steering angle; and cause at least one actuator associated with the vehicle to implement the overall steering command via the one or more steerable wheels. using a first control subsystem implemented by the at least one processor, determine at least a first vehicle steering angle as arctan(L × curvature command) × Basic_Ratio/ (a 0 × Basic_Ratio+ a 1 × vehicle speed + a 2 × vehicle speed 2), wherein L is a wheelbase of the vehicle, a 0, a 1, a 2, and the Basic_Ratioare constants, and wherein the first control subsystem implements one or more feed-forward calculations based on at least one predetermined steering behavior characteristic associated with the vehicle, the steering behavior characteristic relating steering non-linearities to vehicle speed; using a yaw rate loop implemented by the at least one processor, determine at least a second vehicle steering angle based on the curvature command and the vehicle speed command, wherein the yaw rate loop is configured to determine the second vehicle steering angle based on a feedback loop that compares one or more values associated with the yaw rate command to one or more values associated with a measured vehicle yaw rate; determine an overall steering command for the vehicle (200; 2701) based on a combination of the first vehicle steering angle and the second vehicle steering angle; and cause at least one actuator associated with the vehicle to implement the overall steering command via the one or more steerable wheels.