Vehicle steering apparatus and vehicle including the same

A vehicle comprising:

• a ball nut rotatably coupled to a rack bar and configured to linearly move the rack bar by rotation of the ball nut;
• first and second nut pulleys provided on an outer surface of the ball nut;
• a first motor pulley of a first motor operably connected to the first nut pulley of the ball nut through a first belt;
• a second motor pulley of a second motor operably connected to the second nut pulley of the ball nut through a second belt;
• a support supporting the rack bar, and configured to be rotatable in association with linear movement of the rack bar and prevent rotation of the rack bar,
• a first motor sensor configured to detect a rotation position of the first motor,
• a second motor sensor configured to detect a rotation position of the second motor, and
• a controller configured to control the first and second motors.