The present disclosure relates to a method performed by a wheel turning limiting system (1) for limiting a maximum allowed turning of at least a first wheel (3) of a vehicle (2). The vehicle comprises a power steering system (4) comprising a motor (41) adapted to provide an assisting torque to assist in turning (5) of the at least first wheel. The wheel turning limiting system derives (1003) a first parameter (31) reflecting at least a first dimension of the at least first wheel (3). The wheel turning limiting system furthermore derives (1005) a pre-stored value (311) associated with the pre-stored dimension, which pre-stored value reflects a maximum allowed turning of the at least first wheel adequate for the at least first dimension. Moreover, the wheel turning limiting system controls (1006) the motor based on the pre-stored value, such that the turning of the at least first wheel is prevented from exceeding the maximum allowed turning.
The disclosure also relates to a wheel turning limiting system in accordance with the foregoing, and a vehicle comprising at least a portion of the wheel turning limiting system.