Steering apparatus for vehicle and control method therefor

An apparatus for controlling a vehicle including a steering-by-wire (SBW) system, comprising:

• a sensor unit configured to detect (1) a failure of the SBW system and (2) steering information of the vehicle;
• a front wheel part including first and second front wheels of the vehicle;
• a rear wheel part including first and second rear wheels of the vehicle;
• and
• a main controller configured to assist steering of the vehicle by applying a braking or driving force to the front or rear wheel part, wherein the main controller is configured to:
• determine whether an abnormality has occurred at the SBW system;
• in response to determining that an abnormality has occurred at the SBW system, operate the rear wheel part;
• apply a braking force to the first and second front wheels and apply the driving force to the first and second rear wheels;
• and
• in response to determining that a turning radius of the vehicle by the rear wheel part does not satisfy a required turning radius input to a steering wheel of the vehicle, apply an additional braking force to the first and second front wheels.