The invention relates to a vehicle wheel steering mechanism which comprises a linear actuator (1), which is provided with a sliding rod (11) which is coupled by a connecting rod (2) to a vehicle wheel hub carrier (5), wherein between the sliding rod (11) and the connecting rod (2) is inserted a transfer lever (3) which is rotatably mounted in the vehicle frame (7) by its first end (31), wherein by its second end (32) it is rotatably coupled to the end of the sliding rod (11) of the linear steering actuator (1), wherein the transfer lever (3) is between both its ends (31, 32) rotatably connected to the connecting rod (2). In addition, the invention relates to a method of optimizing the vehicle wheel steering mechanism, when for predefined vehicle parameters, the lengths of the individual elements of the mechanism and the distances of the rotatable mountings and connections of the individual elements of the mechanism are determined, then the outer wheel steering angles for different inner wheel steering angles of the same axle are successively determined and the degree of compliance of the vehicle steering with the Ackermann steering condition for different inner wheel steering angles of the axle is evaluated.