A system and method for generating steering commands to cancel out unwanted steering moments is disclosed. The method includes determining, by a controller of a vehicle, an amount of suspension displacement that is caused as a result of driving the vehicle on an uneven road. The suspension displacement induces an unwanted steering moment. The method also includes determining a steering angle command based at least on the amount of suspension displacement. The method also includes performing the steering angle command. Performing the steering angle command cancels out the unwanted steering moment.