A steering apparatus comprising: a mechanism configured to turn a turning wheel of a vehicle; a first motor configured to generate a driving force that is given to the mechanism; and a control device configured to control the first motor in accordance with a steering state, wherein the control device includes a first computation circuit configured to compute a first limiting value to which an electric current to be supplied to the first motor is limited in a particular situation, a determination circuit configured to determine whether the turning wheel is in touch with an obstacle, based on comparison between a value of the electric current to be supplied to the first motor and a threshold, characterized by further comprising a second computation circuit configured to compute a second limiting value to which the electric current to be supplied to the first motor is limited when the determination circuit determines that the turning wheel is in touch with the obstacle, and a third computation circuit configured to compute the threshold to be used by the determination circuit, based on a smaller limiting value of the first limiting value and the second limiting value. a mechanism configured to turn a turning wheel of a vehicle; a first motor configured to generate a driving force that is given to the mechanism; and a control device configured to control the first motor in accordance with a steering state, wherein the control device includes a first computation circuit configured to compute a first limiting value to which an electric current to be supplied to the first motor is limited in a particular situation, a determination circuit configured to determine whether the turning wheel is in touch with an obstacle, based on comparison between a value of the electric current to be supplied to the first motor and a threshold, characterized by further comprising a second computation circuit configured to compute a second limiting value to which the electric current to be supplied to the first motor is limited when the determination circuit determines that the turning wheel is in touch with the obstacle, and a third computation circuit configured to compute the threshold to be used by the determination circuit, based on a smaller limiting value of the first limiting value and the second limiting value. a first computation circuit configured to compute a first limiting value to which an electric current to be supplied to the first motor is limited in a particular situation, a determination circuit configured to determine whether the turning wheel is in touch with an obstacle, based on comparison between a value of the electric current to be supplied to the first motor and a threshold, characterized by further comprising a second computation circuit configured to compute a second limiting value to which the electric current to be supplied to the first motor is limited when the determination circuit determines that the turning wheel is in touch with the obstacle, and a third computation circuit configured to compute the threshold to be used by the determination circuit, based on a smaller limiting value of the first limiting value and the second limiting value.