Abstract: A method for the situation-dependent calculation of a limitation for a steering torque and/or for calculating a control command for a steering system of a vehicle using a control device. Data are received about a vehicle environment, a planned trajectory, and/or data from sensors of the vehicle, a driving situation of the vehicle is ascertained based on the received data, a situation-dependent limitation of a steering behavior such as a steering torque is calculated based on the ascertained driving situation, and a control command for adjusting the calculated situation-dependent limitation of the steering behavior is output. A control device, a computer program as well as a machine-readable memory medium are described.