Steering apparatus

A steering apparatus comprising:

• a reaction force actuator configured to generate a reaction force to be provided to a steering control member operated by a driver of a vehicle;
• a first reaction force controller configured to control the reaction force actuator based on an electrical signal associated with operation of the steering control member operated by the driver;
• a second reaction force controller configured to control the reaction force actuator based on the electrical signal along with or instead of the first reaction force controller;
• a steering actuator configured to drive a steering mechanism operably connected to at least one wheel of the vehicle to steer the at least one wheel of the vehicle;
• a first steering controller configured to control the steering actuator based on the electrical signal associated with the operation of the steering control member operated by the driver;
• a second steering controller configured to control the steering actuator based on the electrical signal along with or instead of the first steering controller;
• a first communication network connected to the first reaction force controller and the first steering controller to transmit a control signal to the first reaction force controller and the first steering controller;
• and
• a second communication network connected to the second reaction force controller and the second steering controller such that the control signal is transmitted to the second reaction force controller and the second steering controller through the second communication network.