A METHOD FOR PROVIDING VEHICLE STEERING SUPPORT BY DIFFERENTIAL WHEEL BRAKING, A SYSTEM, A VEHICLE, A COMPUTER PROGRAM AND A COMPUTER-READABLE MEDIUM

The invention relates to a method for providing vehicle steering support by differential wheel braking, the vehicle comprising: at least two axles with at least two wheels per axle; a braking system allowing individual braking of the wheels; and means for determining and/or estimating an operator input torque applied on a steering wheel, wherein the vehicle is configured with a positive scrub radius; the method comprising the steps of: identifying a need for steering support; determining a braking value required for achieving the needed steering support based on an integration of a function of at least one input value (T) related to a determined or estimated operator input torque; and controlling the braking system based on the determined braking value.