Method for controlling steering of a vehicle

A method for controlling steering of a vehicle (1) is provided, the vehicle (1) defining two or more steerable axes, and the vehicle (1) comprising a number of wheels (2), each of said wheels (2) being associated with one of said steerable axes in such a manner that steering of a given wheel (2) is obtained by steering the steerable axis associated therewith. The method comprises providing a first, a second and a third steering input. The first steering input defines a point of intersection between a virtual steering axis (4) and a longitudinal center axis defined by the vehicle (1). The second steering input defines an angle between the virtual steering axis (4) and the longitudinal center axis. The third steering input defines a position of a center of rotation (5) along the virtual steering axis (4). A position for each of the steerable axes defined by the vehicle (1) is calculated, which causes the vehicle (1) to rotate about the center of rotation (5) defined by the first, second and third steering inputs, and each of the steerable axes is moved to the calculated position.