In accordance with a steering apparatus (20), a grip state between a ground surface on which a steered wheel is grounded and the steered wheel is estimated by a grip degree
estimation arithmetically operating process (30a) which is arithmetically operated by AFS_ECU (30), and VGRS
target angle is set such that a steering
gear ratio is increased in the case that the grip degree gets close to a grip limit on the basis of an estimated grip state, in accordance with a grip degree vs
gear ratio map (30b). Accordingly, since it is possible to estimate the grip degree which is changed in correspondence to a magnitude of the
road surface it, for example, in the case that the steered wheel gets close to the grip limit, it is possible to increase the steering
gear ratio so as to set large even at a time when the vehicle runs at the
low speed. Therefore, since it is possible to prevent a phenomenon that the steered wheel is largely controlled by a smaller
steering angle from being generated in the case that the vehicle runs on the
road surface having the low μ, there is obtained an effect that a stability in the vehicle motion can be improved.