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 states of the vehicle, - 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 vehicle lateral lane position, a vehicle heading angle, a lane curvature and/or a lane curvature derivative, - calculation, in the relative vehicle position calculation function or means , of a target positioning vector consisting of one or more of the following target values; a target lateral position, a target heading angle, a target curvature and a target curvature derivative, - 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 positioning vector, target delta positioning vector, - adding said target positioning vector and said target delta positioning vector together, - using a from the addition resulting mixed control target positioning vector as reference signal to one or more controllers for the control of the one or more vehicle state actuators. - 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 states of the vehicle, - 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 vehicle lateral lane position, a vehicle heading angle, a lane curvature and/or a lane curvature derivative, - calculation, in the relative vehicle position calculation function or means , of a target positioning vector consisting of one or more of the following target values; a target lateral position, a target heading angle, a target curvature and a target curvature derivative, - 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 positioning vector, target delta positioning vector, - adding said target positioning vector and said target delta positioning vector together, - using a from the addition resulting mixed control target positioning vector as reference signal to one or more controllers for the control of the one or more vehicle state actuators. <EOS>