Disclosed herein is a method for intelligent scaling of torque overlay intervention for a semi-autonomous steering system in a road vehicle (1) having a semi-autonomous steering function arranged to selectively apply a steering wheel overlay torque (T c ). If decided that a driver is significantly overriding an intervention the overlay torque (T c ) is scaled by a scaling factor (±) being a function of the applied steering wheel torque (T a ) (104). If decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined first time period (t a ) the scaling factor (±) is set to its lowest possible value for the specific driving situation (T3, 105). If decided that the driver has been significantly overriding the lane keeping aid intervention for more than a pre-determined second time period (t b ), where the pre-determined second time period (t b ) is equal to or exceeds (t b ‰¥ t a ) the pre-determined first time period (t a ) the scaling factor (±) is faded-out (T4, 106).