A method of controlling steering of a vehicle having a steering input device ; at least one turnable vehicle wheel ; and a steering system having a lane keeping functionality that can be activated or deactivated, the steering system comprising: a steering request detector for receiving, from said steering input device , a driver request indicative of a desired wheel angle of said turnable vehicle wheel ; an actuator for acting on said at least one turnable vehicle wheel to achieve said desired wheel angle; and a lane detecting arrangement for detecting a lane curvature ahead of said vehicle , said method comprising the steps of: acquiring (S1), from said steering request detector , a signal indicative of said driver request; determining (S2), based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling (S3) said actuator using said control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring (S5), from said lane detecting arrangement , a signal indicative of the lane curvature ahead of said vehicle ; and controlling (S6) said actuator based on the lane curvature ahead of said vehicle . a steering request detector for receiving, from said steering input device , a driver request indicative of a desired wheel angle of said turnable vehicle wheel ; an actuator for acting on said at least one turnable vehicle wheel to achieve said desired wheel angle; and a lane detecting arrangement for detecting a lane curvature ahead of said vehicle , said method comprising the steps of: acquiring (S1), from said steering request detector , a signal indicative of said driver request; determining (S2), based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling (S3) said actuator using said control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring (S5), from said lane detecting arrangement , a signal indicative of the lane curvature ahead of said vehicle ; and controlling (S6) said actuator based on the lane curvature ahead of said vehicle . acquiring (S1), from said steering request detector , a signal indicative of said driver request; determining (S2), based on the signal indicative of said driver request, a control signal for said actuator to achieve said desired wheel angle; and controlling (S3) said actuator using said control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting said abrupt wheel disturbance event: transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring (S5), from said lane detecting arrangement , a signal indicative of the lane curvature ahead of said vehicle ; and controlling (S6) said actuator based on the lane curvature ahead of said vehicle . transitioning the steering system from a state in which the lane keeping functionality of the steering system is deactivated to a state in which the lane keeping functionality of the steering system is activated; acquiring (S5), from said lane detecting arrangement , a signal indicative of the lane curvature ahead of said vehicle ; and controlling (S6) said actuator based on the lane curvature ahead of said vehicle . <EOS>