A steering apparatus for a vehicle includes a steering angle measuring
unit, a vehicle speed measuring unit, a yaw rate measuring unit, a yaw
rate-based reaction force control unit for controlling a steering
reaction force depending on an actual yaw rate measured by the yaw rate
measuring unit, and a yaw rate deviation-based reaction force control
unit for determining a standard yaw rate depending on at least the
steering angle and the vehicle speed, calculating a yaw rate deviation
between the standard yaw rate and the actual yaw rate, and controlling
the steering reaction force depending on the yaw rate deviation, and a
primary control unit for executing a control operation such that a degree
of contribution of the yaw rate-based reaction force control unit is
decreased and a degree of contribution of the yaw rate deviation-based
reaction force control unit is increased as the yaw rate deviation
increases.