Abstract: A steering system for a vehicle comprising a steering gear (10) having a rack (12) and a pinion (14) in mesh therewith. The rack (12) being laterally displaceable with respect to the vehicle as a function of inputs from a steering wheel (24) through rotation of the pinion (14), and a steering superposition means (32). The steering system further comprising first and second road wheels (20a, 20b) steerable by rotation of first and second steering arms (21a, 21b) respectively by means of first and second tie rods (15a, 15b) arranged to transmit lateral displacement of the rack (12) to the first and second steering arms (21a, 21b) respectively. Lateral displacement of the rack (12) being transmitted to at least one of the steering arms (21a, 21b) through a linear actuator (25). The linear actuator (25) and the steering superposition means (32) being controlled by a control means (30) in response to at least one sensed parameter (31).