A safety system (2) for a vehicle comprising a monitoring device (4) adapted to detect an object (6) within proximity of the vehicle and to emit an indication signal (8) depending on the detected object (6), whereby the indication signal (8) comprises object information regarding among others the direction of and distance to the object. The system also comprises a wheel steering unit (10) adapted to impact the vehicles' wheel steering depending on a first steering signal (12), a steering wheel unit (14) adapted to apply a torque to the vehicle's steering wheel (16) for a predetermined duration depending on a second steering signal (18), and an analysis device (20) adapted to receive said indication signal (8) and a set of vehicle parameters (22), containing among others information regarding the vehicle's speed, and wherein the analysis device (20) is also adapted to analyse said indication signal (8) with respect to the direction of and distance to the object (6) and with respect to said set of vehicle parameters (22) to determine whether the vehicle is at risk of colliding with the object (6). If the result of the analysis shows that the vehicle is at risk of colliding with the object (6) the analysis device (20) is adapted to generate a first steering signal (12) which entails that the wheel steering unit (10) changes the direction of the vehicle so that the object (6) is avoided, and to generate, essentially at the same time as the first steering signal (12), a second steering signal (18) entailing that the steering wheel unit (14) applies a torque to the steering wheel (16), for a predetermined duration, in a direction such that the steering wheel movement entails the driver perceiving the vehicle steering toward the object (6).